changes to make intake work

Author: lhmcgann

Robot2018/lib/User_Libraries.properties

@@ -1,2 +1,2 @@
-#Sun Feb 18 11:01:27 PST 2018
-C\:\\Users\\dean\\git\\RobotCode2018\\Robot2018\\lib\\libpathfinderjava.so=4087ee38c338446b8305f67716260df4
+#Sun Feb 18 17:11:52 PST 2018
+C\:\\Users\\Student\\git\\RobotCode2018\\Robot2018\\lib\\libpathfinderjava.so=4087ee38c338446b8305f67716260df4

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

@@ -130,12 +130,10 @@ public RobotMap() {
 
 		leftIntakeMotor = new VictorSP(getPort("IntakeLeftVictorSP", 9));
 		rightIntakeMotor = new VictorSP(getPort("IntakeRightVictorSP", 8));
-		// leftIntakeHorizontalSolenoid = new
-		// DoubleSolenoid(getPort("IntakeLeftHorizontalSolenoidPort1", 2),
-		// getPort("IntakeLeftHorizontalSolenoidPort2", 3));
-		// rightIntakeHorizontalSolenoid = new
-		// DoubleSolenoid(getPort("IntakeRightHorizontalSolenoidPort1", 4),
-		// getPort("IntakeRightHorizontalSolenoidPort2", 5));
+		leftIntakeHorizontalSolenoid = new DoubleSolenoid(getPort("IntakeLeftHorizontalSolenoidPort1", 2),
+				getPort("IntakeLeftHorizontalSolenoidPort2", 3));
+		rightIntakeHorizontalSolenoid = new DoubleSolenoid(getPort("IntakeRightHorizontalSolenoidPort1", 4),
+				getPort("IntakeRightHorizontalSolenoidPort2", 5));
 		// leftIntakeVerticalSolenoid = new
 		// DoubleSolenoid(getPort("IntakeLeftVerticalSolenoidPort1", 6),
 		// getPort("IntakeLeftVerticalSolenoidPort2", 7));

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

@@ -20,7 +20,7 @@ protected void initialize() {
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-		Robot.intakeEject.runIntake(1);
+		Robot.intakeEject.runIntake(-1);
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

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

@@ -20,24 +20,28 @@ public OutakeCube() {
 	// Called just before this Command runs the first time
 	protected void initialize() {
 		tim = new Timer();
+		tim.reset();
+		tim.start();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-		Robot.intakeEject.runIntake(-1);
+		Robot.intakeEject.runIntake(1);
 	}
 
 	// Make this return true when this Command no longer needs to run execute()
 	protected boolean isFinished() {
-		return tim.get() > Robot.getConst("Outake Time", 1);
+		return tim.get() > Robot.getConst("Outake Time", 0.5);
 	}
 
 	// Called once after isFinished returns true
 	protected void end() {
+		Robot.intakeEject.runIntake(0);
 	}
 
 	// Called when another command which requires one or more of the same
 	// subsystems is scheduled to run
 	protected void interrupted() {
+		end();
 	}
 }

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

@@ -48,9 +48,9 @@ public double getRightIntakeSpeed() {
 	 * 
 	 */
 	public boolean hasCube() {
-		return pdp.getCurrent(Robot.rmap.getPort("PDP Intake Left Channel", 4)) > Robot.getConst("Max Current", 38)
-				&& pdp.getCurrent(Robot.rmap.getPort("PDP Intake Right Channel", 11)) > Robot.getConst("Max Current",
-						38);
+		return pdp.getCurrent(Robot.rmap.getPort("PDP Intake Left Channel", 4)) > Robot.getConst("Max Current", 39)
+				|| pdp.getCurrent(Robot.rmap.getPort("PDP Intake Right Channel", 11)) > Robot.getConst("Max Current",
+						39);
 	}
 
 	/**
@@ -124,9 +124,9 @@ public void lowerIntake() {
 	}
 
 	/**
-	 * Opens the intake
+	 * Closes the intake
 	 */
-	public void openIntake() {
+	public void closeIntake() {
 		DoubleSolenoid.Value leftSet = Robot.getBool("Intake Left Horizontal Solenoid Inverted", false)
 				? DoubleSolenoid.Value.kReverse
 				: DoubleSolenoid.Value.kForward;
@@ -138,9 +138,9 @@ public void openIntake() {
 	}
 
 	/**
-	 * Closes the intake
+	 * Opens the intake
 	 */
-	public void closeIntake() {
+	public void openIntake() {
 		DoubleSolenoid.Value leftSet = Robot.getBool("Intake Left Horizontal Solenoid Inverted", false)
 				? DoubleSolenoid.Value.kForward
 				: DoubleSolenoid.Value.kReverse;