From c04bb7f198a40d8193a21d1f5b5fefc0414ea3e9 Mon Sep 17 00:00:00 2001
From: Jonathan Gassend <115192551+The-Arx@users.noreply.github.com>
Date: Fri, 22 Nov 2024 22:24:49 -0800
Subject: [PATCH] everything working!

---
 .../java/com/team766/robot/rookie_bot/OI.java | 20 +++++++++++--------
 .../robot/rookie_bot/mechanisms/Elevator.java | 13 +++++++-----
 .../robot/rookie_bot/mechanisms/Intake.java   | 10 +++++++---
 3 files changed, 27 insertions(+), 16 deletions(-)

diff --git a/src/main/java/com/team766/robot/rookie_bot/OI.java b/src/main/java/com/team766/robot/rookie_bot/OI.java
index 3dbd2510..7fffffce 100644
--- a/src/main/java/com/team766/robot/rookie_bot/OI.java
+++ b/src/main/java/com/team766/robot/rookie_bot/OI.java
@@ -36,19 +36,23 @@ public void run(final Context context) {
 
         Robot.drive.setArcadeDrivePower(joystick0.getAxis(1), joystick0.getAxis(0));
 
-        if (joystick0.getButtonPressed(1)) {
+        if (joystick0.getButton(1)) {
             Robot.elevator.move(0.3);
-        } else if (joystick0.getButtonPressed(2)) {
+        } else if (joystick0.getButton(2)) {
             Robot.elevator.move(-0.3);
-        } else if (joystick0.getButtonReleased(1) || joystick0.getButtonReleased(1)) {
+        } 
+        
+        if (joystick0.getButtonReleased(1) || joystick0.getButtonReleased(2)) {
             Robot.elevator.move(0);
         }
 
-        if (joystick0.getButtonPressed(3)) {
-            Robot.intake.setPowerBoth(0.3);
-        } else if (joystick0.getButtonPressed(4)) {
-            Robot.intake.setPowerBoth(-0.3);
-        } else if (joystick0.getButtonReleased(3) || joystick0.getButtonReleased(4)) {
+        if (joystick0.getButton(3)) {
+            Robot.intake.setPowerBoth(0.5);
+        } else if (joystick0.getButton(4)) {
+            Robot.intake.setPowerBoth(-0.5);
+        } 
+        
+        if (joystick0.getButtonReleased(3) || joystick0.getButtonReleased(4)) {
             Robot.intake.setPowerBoth(0);
         }
 
diff --git a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.java b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.java
index dc9fa7b3..c049deeb 100644
--- a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.java
+++ b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.java
@@ -10,7 +10,7 @@
 public class Elevator extends Mechanism{
     private MotorController m_elevator;
     private EncoderReader m_elevatorEncoder;
-    private final double TOP_LIMIT = 400;
+    private final double TOP_LIMIT = -130;
     private final double BOTTOM_LIMIT = 0;
 
 
@@ -22,8 +22,8 @@ public Elevator() {
     }
 
     public void move(double power) {
-        if (!((power > 0 && getElevatorDistance() > TOP_LIMIT) || (power < 0 && getElevatorDistance() < BOTTOM_LIMIT))) {
-            m_elevator.set(power);
+        if (!((power < 0 && (getElevatorDistance() < TOP_LIMIT)) || (power > 0 && (getElevatorDistance() > BOTTOM_LIMIT)))) {
+            m_elevator.set(-power);
         } else {
             m_elevator.set(0);
         }
@@ -31,12 +31,15 @@ public void move(double power) {
     }
 
     public double getElevatorDistance(){
-        return m_elevatorEncoder.getDistance();
+        return m_elevator.getSensorPosition();
     }
 
     public void resetEncoder(){
-        m_elevatorEncoder.reset();
+        m_elevator.setSensorPosition(0);
     }
 
+    public void run() {
+        log("elevator: " + getElevatorDistance());
+    }
 }
 
diff --git a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Intake.java b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Intake.java
index d10afce8..51ec8e72 100644
--- a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Intake.java
+++ b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Intake.java
@@ -14,8 +14,8 @@
 public class Intake extends Mechanism {
     private MotorController intakeChainLeft;
     private MotorController intakeChainRight;
-    private final double INNER_LIMIT = 20;
-    private final double OUTER_LIMIT = -400;
+    private final double INNER_LIMIT = 2;
+    private final double OUTER_LIMIT = -6;
 
     public Intake() {
         intakeChainLeft = RobotProvider.instance.getMotor("intake.ChainLeft");
@@ -45,6 +45,10 @@ public void setIntake(double leftPower, double rightPower) {
     public void setPowerBoth(double powerBoth) {
         setIntake(powerBoth, powerBoth);
     }
-        
+     public void run(){
+        log("left: " + intakeChainLeft.getSensorPosition());
+        log("right: " + intakeChainRight.getSensorPosition());
+
+     }   
 }