<commit_before>#include "DriveCommand.h"
#include <iostream>

DriveCommand::DriveCommand()
{
	Requires(driveSubsystem);
	Requires(elevatorSubsystem);
	Requires(sensorSubsystem);
	rightFrontSpeed = leftFrontSpeed = rightBackSpeed = leftBackSpeed  = 0.0;
}

// Called just before this Command runs the first time
void DriveCommand::Initialize()
{

}

// Called repeatedly when this Command is scheduled to run
void DriveCommand::Execute()
{
	//ꂼ̃[^[̑xRg[[̏Ԃɂ蒲
	rightFrontSpeed = oi->GetXplusY() * SPEED + oi->GetStickThrottle() * SPEED - oi->GetStickTwist() * SPEED;
	leftFrontSpeed = oi->GetXminusY() * SPEED + oi->GetStickTwist() * SPEED - oi->GetStickThrottle() * SPEED;
	rightBackSpeed = oi->GetXminusY() * SPEED + oi->GetStickThrottle() * SPEED - oi->GetStickTwist() * SPEED;
	leftBackSpeed = oi->GetXplusY() * SPEED + oi->GetStickTwist() * SPEED - oi->GetStickThrottle() * SPEED;

	driveSubsystem->DriveMotors(rightFrontSpeed,leftFrontSpeed,rightBackSpeed,leftBackSpeed);

	if(elevatorSubsystem->underSwitch.Get()){
		elevatorSubsystem->DriveElevator(-0.1);
		Wait(0.05);
	}else if(elevatorSubsystem->upSwitch.Get()){
		elevatorSubsystem->DriveElevator(0.1);
		Wait(0.05);
	}
	if(elevatorSubsystem->underSwitch.Get() && oi->GetStcikRightY() > 0){
		elevatorSubsystem->DriveElevator(0);
	}else if(elevatorSubsystem->upSwitch.Get() && oi->GetStcikRightY() < 0){
		elevatorSubsystem->DriveElevator(0);
	}else{
		elevatorSubsystem->DriveElevator(oi->GetStcikRightY());
	}
}

// Make this return true when this Command no longer needs to run execute()
bool DriveCommand::IsFinished()
{
	return false;
}

// Called once after isFinished returns true
void DriveCommand::End()
{

}<commit_msg>remove elevator limit from drivecommand <commit_after>#include "DriveCommand.h"
#include <iostream>

DriveCommand::DriveCommand()
{
	Requires(driveSubsystem);
	Requires(elevatorSubsystem);
	Requires(sensorSubsystem);
	rightFrontSpeed = leftFrontSpeed = rightBackSpeed = leftBackSpeed  = 0.0;
}

// Called just before this Command runs the first time
void DriveCommand::Initialize()
{

}

// Called repeatedly when this Command is scheduled to run
void DriveCommand::Execute()
{
	//ꂼ̃[^[̑xRg[[̏Ԃɂ蒲
	rightFrontSpeed = oi->GetXplusY() * SPEED + oi->GetStickThrottle() * SPEED - oi->GetStickTwist() * SPEED;
	leftFrontSpeed = oi->GetXminusY() * SPEED + oi->GetStickTwist() * SPEED - oi->GetStickThrottle() * SPEED;
	rightBackSpeed = oi->GetXminusY() * SPEED + oi->GetStickThrottle() * SPEED - oi->GetStickTwist() * SPEED;
	leftBackSpeed = oi->GetXplusY() * SPEED + oi->GetStickTwist() * SPEED - oi->GetStickThrottle() * SPEED;

	driveSubsystem->DriveMotors(rightFrontSpeed,leftFrontSpeed,rightBackSpeed,leftBackSpeed);

	if(elevatorSubsystem->underSwitch.Get()){
		elevatorSubsystem->DriveElevator(-0.1);
		Wait(0.05);
	}else if(elevatorSubsystem->upSwitch.Get()){
		elevatorSubsystem->DriveElevator(0.1);
		Wait(0.05);
	}
	elevatorSubsystem->DriveElevator(oi->GetStcikRightY());
}

// Make this return true when this Command no longer needs to run execute()
bool DriveCommand::IsFinished()
{
	return false;
}

// Called once after isFinished returns true
void DriveCommand::End()
{

}
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