From b655dbdba8532f31b13b410f2dfedbbb3775dba3 Mon Sep 17 00:00:00 2001
From: Luke Shumaker <lukeshu@sbcglobal.net>
Date: Sat, 16 Jan 2016 11:24:32 -0500
Subject: The last commit was corrupted; this is it re-created

---
 .../usfirst/frc/team4272/robot2015/Autonomous.java |   9 +++++--
 src/org/usfirst/frc/team4272/robot2015/Robot.java  |  30 ++++++++++++++++-----
 src/org/usfirst/frc/team4272/robot2015/Teleop.java |   2 +-
 sysProps.xml                                       | Bin 6101 -> 6101 bytes
 4 files changed, 32 insertions(+), 9 deletions(-)

diff --git a/src/org/usfirst/frc/team4272/robot2015/Autonomous.java b/src/org/usfirst/frc/team4272/robot2015/Autonomous.java
index 5d48588..162d00b 100644
--- a/src/org/usfirst/frc/team4272/robot2015/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2015/Autonomous.java
@@ -15,8 +15,13 @@ public class Autonomous {
 	}
 
 	public Control run(Control c) {
-		if (robot.rDriveE.getDistance() < (15.5*140*1.1)) {
-			c.rDrive = c.lDrive = -0.7;
+		if (robot.rDriveE.getDistance() > -(15.5*140*1.15)) {
+			c.rDrive = c.lDrive = 0.7;
+			//initially -0.7 to drive backwards
+			//0 to 9787 for going backwards
+			//0 to negative for forward 
+			//INDY: (15.5*140*1.1)
+			//PURDUE: (15.5*140*1.15) for a drop further
 		} else {
 			c.rDrive = c.lDrive = 0;
 		}
diff --git a/src/org/usfirst/frc/team4272/robot2015/Robot.java b/src/org/usfirst/frc/team4272/robot2015/Robot.java
index 454f226..dd7e940 100644
--- a/src/org/usfirst/frc/team4272/robot2015/Robot.java
+++ b/src/org/usfirst/frc/team4272/robot2015/Robot.java
@@ -7,6 +7,7 @@ import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import java.util.Date;
 import java.io.FileWriter;
 import java.io.IOException;
 import java.io.PrintWriter;
@@ -37,21 +38,28 @@ public class Robot extends IterativeRobot {
 	}
 
 	private void inLog() throws IOException {
-		log = new PrintWriter(new FileWriter("/usr/local/frc/share/lukeshu.log", true));
+		log = new PrintWriter(new FileWriter("/home/lvuser/tweeterbot/var/data.log", true));
 		log.println("\ntime"
-			+",ds:alliance,ds:voltage,ds:FMStime"
+			+",ds:FMS,ds:alliance,ds:voltage,ds:FMStime"
 			+",c:lDrive,c:rDrive,c:winch,c:lIntake,c:rIntake,c:grab,c:push"
 			+",i:lDrive.dist,i:lDrive.rate"
 			+",i:rDrive.dist,i:rDrive.rate"
 			+",i:winch.dist");
 	}
 
+	private void doLogOnce(String tag) throws Exception {
+		log.println(new Date()
+			+","+ds.isFMSAttached()
+			+","+tag);
+	}
+
 	private void doLog() throws Exception {
 		SmartDashboard.putNumber("dist", robot.rDriveE.getDistance());
 		SmartDashboard.putNumber("raw", robot.rDriveE.getRaw());
 		if (!ds.isFMSAttached())
 			return;
-		log.println(0
+		log.println(new Date()
+			+","+ds.isFMSAttached()
 			+","+ds.getAlliance()
 			+","+ds.getBatteryVoltage()
 			+","+ds.getMatchTime()
@@ -85,7 +93,10 @@ public class Robot extends IterativeRobot {
 	}
 
 	public void autonomousInit() {
-		auto = new Autonomous(robot);
+		try {
+			auto = new Autonomous(robot);
+			doLogOnce("autonomous");
+		} catch (Exception e) {}
 	}
 	public void autonomousPeriodic() {
 		try {
@@ -95,8 +106,11 @@ public class Robot extends IterativeRobot {
 	}
 
 	public void teleopInit() {
-		robot.rDriveE.reset();
-		teleop = new Teleop();
+		try {
+			robot.rDriveE.reset();
+			teleop = new Teleop();
+			doLogOnce("teleop");
+		} catch (Exception e) {}
 	}
 
 	public void teleopPeriodic() {
@@ -107,6 +121,10 @@ public class Robot extends IterativeRobot {
 	}
 
 	public void disabledInit() {
+		try {
+			doLogOnce("disabled");
+			log.flush();
+		} catch (Exception e) {}
 	}
 
 	public void disabledPeriodic() {
diff --git a/src/org/usfirst/frc/team4272/robot2015/Teleop.java b/src/org/usfirst/frc/team4272/robot2015/Teleop.java
index 058589a..85b071b 100644
--- a/src/org/usfirst/frc/team4272/robot2015/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2015/Teleop.java
@@ -27,7 +27,7 @@ public class Teleop {
 		control.lDrive = jsScale(oi.lStick);
 		control.rDrive = jsScale(oi.rStick);
 		/* Winch */
-		control.winch = oi.xbox.getAxis(Axis.LY);/* up is neg, down is pos */
+		control.winch = oi.xbox.getAxis(Axis.LY ) * -1;/* up is neg, down is pos */
 		if (Math.abs(control.winch) < 0.1) { control.winch = 0; }
 
 		/* left intake */
diff --git a/sysProps.xml b/sysProps.xml
index 88c7046..db30064 100644
Binary files a/sysProps.xml and b/sysProps.xml differ
-- 
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