changed all PR comments

fixed enable/disable/stop (also added enable to the end() of MoveLift so
it's ready and live when not using that non-PID command anymore
changed getString in OI to be SmartDashboard. instead of Robot. but left
my getString methods in there bc not doing any harm
left end() in interrupted bc not really doing any harm
got rid of spd --> voltage method and replaced it with a constant from
Robot.getConst

Author: lhmcgann

Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java

@@ -104,8 +104,8 @@ public OI(Robot robot) {
 		moveLiftPIDDownButton.whileHeld(new MoveLiftWithPID(Robot.lift, false));
 
 		testLiftPID = new JoystickButton(leftJoy, getButton("Test Lift PID", 5));
-		testLiftPID.whenPressed(
-				new LiftToPosition(Robot.lift, Robot.getString("Lift Targ Height", LiftHeight.SWITCH.toString())));
+		testLiftPID.whenPressed(new LiftToPosition(Robot.lift,
+				SmartDashboard.getString("Lift Targ Height", LiftHeight.SWITCH.toString())));
 
 		rightJoy = new Joystick(1);
 		shiftHighGearButton = new JoystickButton(rightJoy, getButton("Shift High Gear", 4));

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/LiftToPosition.java

@@ -23,13 +23,11 @@ public LiftToPosition(Lift lift, String goal) {
 	// Called just before this Command runs the first time
 	@Override
 	protected void initialize() {
-		// There's no way to reset the Lift's PID constants after constructing it, so if
-		// you change them you must Restart Robot Code in DS.
+		lift.getPIDController().setPID(Robot.getConst("LiftkP", 0.1), Robot.getConst("LiftkI", 0),
+				Robot.getConst("LiftkD", 0), Robot.getConst("LiftkF", 0.1));
 		double setpoint = lift.getDesiredDistFromPos(pos);
 		lift.setSetpoint(setpoint);
 		System.out.println("Target Height: " + setpoint);
-		lift.enable();
-		System.out.println("Enabled");
 	}
 
 	// Called repeatedly when this Command is scheduled to run
@@ -47,11 +45,6 @@ protected boolean isFinished() {
 	// Called once after isFinished returns true
 	@Override
 	protected void end() {
-		lift.disable();
-		System.out.println("Disabled");
-		// keep stopLift() after disable() so they don't conflict
-		lift.stopLift();
-		System.out.println("Stopped");
 	}
 
 	// Called when another command which requires one or more of the same

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/MoveLift.java

@@ -46,6 +46,7 @@ protected boolean isFinished() {
 	@Override
 	protected void end() {
 		lift.stopLift();
+		lift.enable();
 	}
 
 	// Called when another command which requires one or more of the same

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/MoveLiftWithPID.java

@@ -28,7 +28,6 @@ public MoveLiftWithPID(Lift lift, boolean up) {
 	protected void initialize() {
 		setpoint = 0;
 		lift.setSetpoint(setpoint);
-		lift.enable();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
@@ -48,9 +47,6 @@ protected boolean isFinished() {
 	// Called once after isFinished returns true
 	@Override
 	protected void end() {
-		lift.disable();
-		// keep stopLift() after disable() so they don't conflict
-		lift.stopLift();
 	}
 
 	// Called when another command which requires one or more of the same

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/UpdateLiftPosition.java

@@ -81,8 +81,6 @@ protected boolean isFinished() {
 	// Called once after isFinished returns true
 	@Override
 	protected void end() {
-		lift.stopLift();
-		lift.disable();
 	}
 
 	// Called when another command which requires one or more of the same

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Lift.java

@@ -176,18 +176,7 @@ protected double returnPIDInput() {
 	protected void usePIDOutput(double output) {
 		double out = output;
 		double spd = liftEnc.getRate();
-		out += convertSpdToVoltage(spd);
+		out += Robot.getConst("Lift: Necessary Voltage", 0);
 		runMotor(out);
 	}
-
-	/**
-	 * Takes a value for the current lift speed and translates it to the amount of
-	 * voltage to motors need to supply.
-	 * 
-	 * @param speed
-	 *            - the current lift speed (in/s)
-	 */
-	public double convertSpdToVoltage(double speed) {
-		return 0;
-	}
 }