<commit_before>package org.usfirst.frc4915.MecanumDrive.subsystems;

import org.usfirst.frc4915.MecanumDrive.Robot;
import org.usfirst.frc4915.MecanumDrive.RobotMap;
import org.usfirst.frc4915.MecanumDrive.commands.elevator.ElevatorFineTune;
import org.usfirst.frc4915.debuggersystem.CustomDebugger.LoggerNames;

import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Subsystem;

public class Elevator extends Subsystem {

	// These positions describe the number of totes you stacking on top of.
	// If you need to stack on top of 3 totes, use position 3.
	// If you need to stack on the ground, use position 0.

	// TODO initialize height
	// Not in inches. Between minimumPotentiometerValue and
	// maximumPotentiometerValue.
	public static double height = 700;

	// POTENTIOMTERS : fwd --> top, rev --> bottom

	// Set by ElevatorMax/MinHeightCalibrate commands
	public static double minimumPotentiometerValue = 0;
	public static double maximumPotentiometerValue = 1023;

	public static final double RANGE_OF_MOTION = 54; // The elevator can go a
														// distance between 54
														// inches

	public static final double CHASIS_HEIGHT = 5; // These two measurements are
													// in inches
	public static final double HEIGHT_OF_TOTE = 12;

	private static final double JOYSTICK_SCALE = -1; // TODO Decide scale for
														// joystick movement
														// position change

	public CANTalon winch = RobotMap.elevatorWinchMotor;

	/**
	 * Initializes the default command (WPI java default method) Called on
	 * initialization of the subsystem
	 */
	public void initDefaultCommand() {
		setDefaultCommand(new ElevatorFineTune());
		// Set the default command for a subsystem here.
		// setDefaultCommand(new MySpecialCommand());
	}

	// TODO Make sure that the winch does not begin winding the wrong way -- We
	// may use a limit switch to tell if the cable is tight or not.
	// Discuss this with Elevator Subteam and Riyadth
	/**<commit_msg>Changed the joystick scaling for elevator subsytem to -5 from -1<commit_after>package org.usfirst.frc4915.MecanumDrive.subsystems;

import org.usfirst.frc4915.MecanumDrive.Robot;
import org.usfirst.frc4915.MecanumDrive.RobotMap;
import org.usfirst.frc4915.MecanumDrive.commands.elevator.ElevatorFineTune;
import org.usfirst.frc4915.debuggersystem.CustomDebugger.LoggerNames;

import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Subsystem;

public class Elevator extends Subsystem {

	// These positions describe the number of totes you stacking on top of.
	// If you need to stack on top of 3 totes, use position 3.
	// If you need to stack on the ground, use position 0.

	// TODO initialize height
	// Not in inches. Between minimumPotentiometerValue and
	// maximumPotentiometerValue.
	public static double height = 700;

	// POTENTIOMTERS : fwd --> top, rev --> bottom

	// Set by ElevatorMax/MinHeightCalibrate commands
	public static double minimumPotentiometerValue = 0;
	public static double maximumPotentiometerValue = 1023;

	public static final double RANGE_OF_MOTION = 54; // The elevator can go a
														// distance between 54
														// inches

	public static final double CHASIS_HEIGHT = 5; // These two measurements are
													// in inches
	public static final double HEIGHT_OF_TOTE = 12;

	private static final double JOYSTICK_SCALE = -5; // TODO Decide scale for
														// joystick movement
														// position change

	public CANTalon winch = RobotMap.elevatorWinchMotor;

	/**
	 * Initializes the default command (WPI java default method) Called on
	 * initialization of the subsystem
	 */
	public void initDefaultCommand() {
		setDefaultCommand(new ElevatorFineTune());
		// Set the default command for a subsystem here.
		// setDefaultCommand(new MySpecialCommand());
	}

	// TODO Make sure that the winch does not begin winding the wrong way -- We
	// may use a limit switch to tell if the cable is tight or not.
	// Discuss this with Elevator Subteam and Riyadth
	/**
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