From b6a0303d5105bf0b44b2046da6227b3c709f614b Mon Sep 17 00:00:00 2001
From: Amogh J <amoghj.au@gmail.com>
Date: Fri, 21 Feb 2020 20:50:09 +1100
Subject: [PATCH 1/9] created testOI, changed a couple buttons

---
 src/main/java/frc/robot/OI.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 05dcabb..14fe7c4 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -210,10 +210,10 @@ public void configureOperatorJoystick(InputDevice stick, String name) {
 		//whileTriggered(axisAsSwitch(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS)),
 		//		() -> { return Sequences.getHatchDeltaPositionSequence(-1 * stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read()); });
 				
-		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() >= 0.5;}, Sequences.setHatchPower(-0.5));
+		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() >= 0.5;}, Sequences.colourWheelRight());
 		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() < 0.5 &&
-			stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() > -0.5;}, Sequences.setHatchPower(0));
-		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() <= -0.5;}, Sequences.setHatchPower(0.5));
+			stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() > -0.5;}, Sequences.stopColourWheel());
+		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() <= -0.5;}, Sequences.colourWheelLeft());
 
 
 		onTriggered(stick.getButton(GamepadButtonsX.LEFT_THUMBSTICK_CLICK), Sequences.hatchCalibrate());		

From af0c7c0ffb842e6f5b0c645382521ce0e81a9fcb Mon Sep 17 00:00:00 2001
From: Amogh J <amoghj.au@gmail.com>
Date: Sat, 22 Feb 2020 16:14:11 +1100
Subject: [PATCH 2/9] deleted some stuff lol and tried to map some buttons

---
 src/main/java/frc/robot/OI.java | 125 ++++----------------------------
 1 file changed, 15 insertions(+), 110 deletions(-)

diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 14fe7c4..3a9efea 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -82,11 +82,9 @@ public void configureJoysticks(FlightStick driverLeft, FlightStick driverRight,
 	
 	public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStick, String name) {
 
-		// Left Stick's onTrigger drive slowly mode is handled in Robot.java, not here
-		// Hatch Vision
-		// Intaking is on this button.
-		onTriggered(leftStick.getButton(1), Sequences.startDriveByVision());
-		onUntriggered(leftStick.getButton(1), Sequences.stopDriveByVision());
+	// Deploy/retract lift. 
+	onTriggered(rightStick.getButton(12), Sequences.liftDeploy());
+	onUntriggered(rightStick.getButton(12), Sequences.liftRetract());
 
 		// Intake - Right Stick Button 2 (on/off)
 		onTriggered(rightStick.getButton(2), () -> {
@@ -96,73 +94,26 @@ public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStic
 		}); 
 		onUntriggered(rightStick.getButton(2), Sequences.stopIntaking());
 
-		onTriggered(leftStick.getButton(6), Sequences.startSlowDriveForward());
-		onUntriggered(leftStick.getButton(6), Sequences.setDrivebaseToArcade());
+		onTriggered(leftStick.getButton(1), Sequences.startSlowDriveForward());
+		onUntriggered(leftStick.getButton(1), Sequences.setDrivebaseToArcade());
 
-		onTriggered(rightStick.getButton(3), Sequences.turnToWall());  // Face the drivers station wall.
-		onUntriggered(rightStick.getButton(3), Sequences.setDrivebaseToArcade());
+		// i dont think this is used this year? 
+		//onTriggered(rightStick.getButton(3), Sequences.turnToWall());  // Face the drivers station wall.
+		//onUntriggered(rightStick.getButton(3), Sequences.setDrivebaseToArcade());
 
-		// tell the climber to go back down
-		// Right Stick
-		onTriggered(rightStick.getButton(5), Sequences.abortLevelStage());
-		onUntriggered(rightStick.getButton(5), Sequences.stopLevelNclimb());
 
-		onTriggered(leftStick.getButton(3), Sequences.visionAim());
-		onUntriggered(leftStick.getButton(3), Sequences.stopDriveByVision());
+		onTriggered(rightStick.getButton(1), Sequences.visionAim());
+		onUntriggered(rightStick.getButton(1), Sequences.setDrivebaseToArcade());
 
 
-		// Level 3 sequence of buttons
-		/*onTriggered(rightStick.getButton(12), Sequences.startLevel3climb());
-		onUntriggered(rightStick.getButton(12), Sequences.stopLevelNclimb());
-
-		onTriggered(rightStick.getButton(10), Sequences.startLevelDriveForward());
-		onUntriggered(rightStick.getButton(10), Sequences.stopLevelDrive());
-
-		onTriggered(rightStick.getButton(8), Sequences.startRearRaise());
-		onUntriggered(rightStick.getButton(8), Sequences.stopLevelNclimb());
-
-		onTriggered(leftStick.getButton(12), Sequences.startLevelDriveForward());
-		onUntriggered(leftStick.getButton(12), Sequences.stopLevelDrive());*/
-
 		onTriggered(leftStick.getButton(10), Sequences.startFrontRaise());
 		onUntriggered(leftStick.getButton(10), Sequences.stopLevelNclimb());
 
 		onTriggered(leftStick.getButton(8), Sequences.startLevelDriveForward());
 		onUntriggered(leftStick.getButton(8), Sequences.stopLevelDrive());
 
-		// Level 2 sequence of buttons
-
-		onTriggered(rightStick.getButton(11), Sequences.startLevel2climb());
-		onUntriggered(rightStick.getButton(11), Sequences.stopLevelNclimb());
-
-		onTriggered(rightStick.getButton(9), Sequences.startLevelDriveForward());
-		onUntriggered(rightStick.getButton(9), Sequences.stopLevelDrive());
-
-		onTriggered(rightStick.getButton(7), Sequences.startRearRaise());
-		onUntriggered(rightStick.getButton(7), Sequences.stopLevelNclimb());
 
-		onTriggered(leftStick.getButton(11), Sequences.startLevelDriveForward());
-		onUntriggered(leftStick.getButton(11), Sequences.stopLevelDrive());
-
-		onTriggered(leftStick.getButton(9), Sequences.startFrontRaise());
-		onUntriggered(leftStick.getButton(9), Sequences.stopLevelNclimb());
-
-		onTriggered(leftStick.getButton(7), Sequences.startLevelDriveForward());
-		onUntriggered(leftStick.getButton(7), Sequences.stopLevelDrive());
-
-		//onTriggered(rightStick.getButton(9), Sequences.startFrontRaise());
-		//onUntriggered(rightStick.getButton(9), Sequences.stopLevelNclimb());
-
-		//onTriggered(rightStick.getButton(11), Sequences.startRearRaise());
-		//onUntriggered(rightStick.getButton(11), Sequences.stopLevelNclimb());
-
-
-		//onTriggered(leftStick.getButton(9), Sequences.startLevelDriveForward());
-		//onUntriggered(leftStick.getButton(9), Sequences.stopLevelDrive());
-
-		//onTriggered(leftStick.getButton(11), Sequences.startLevelDriveBackward());
-		//onUntriggered(leftStick.getButton(11), Sequences.stopLevelDrive());
-	}
+			}
 
 	public void configureOperatorJoystick(InputDevice stick, String name) {
 		// Reset robot: intake stowed and lift at bottom.
@@ -180,43 +131,21 @@ public void configureOperatorJoystick(InputDevice stick, String name) {
 
 		//onTriggered(stick.getButton(GamepadButtonsX.BACK_BUTTON), Sequences.raiseIntake());
 		
-		// Deploy/retract lift. 
-		onTriggered(stick.getDPad(0, GamepadButtonsX.DPAD_NORTH), Sequences.liftDeploy());
-		onUntriggered(stick.getDPad(0, GamepadButtonsX.DPAD_NORTH), Sequences.liftRetract());
+		
 
 		/*
-		// Spitter Sequence (cargoSpit) 
-		onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.startCargoSpit());
-		onUntriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.stopCargoSpit());
-
 		// Reverse button
 		onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.startReverseCycle());
 		onUntriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.stopReverseCycle());
 		*/
 
-		// Hatch hold & release
-		onTriggered(stick.getAxis(GamepadButtonsX.RIGHT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), () -> {
-			scoreModeCargo = false;
-			sysoutScoreMode();
-			return Sequences.releaseHatch();
-		});
-		onUntriggered(stick.getAxis(GamepadButtonsX.RIGHT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.holdHatch());
-
-		// Hatch deploy/stow buttons.
-		onTriggered(stick.getDPad(0,GamepadButtonsX.DPAD_WEST), Sequences.getReadyHatchSequence());			
-		onTriggered(stick.getDPad(0,GamepadButtonsX.DPAD_EAST), Sequences.getStowHatchSequence());
-		
-		// Microadjust hatch left and right
-		//whileTriggered(axisAsSwitch(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS)),
-		//		() -> { return Sequences.getHatchDeltaPositionSequence(-1 * stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read()); });
-				
+	
 		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() >= 0.5;}, Sequences.colourWheelRight());
 		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() < 0.5 &&
 			stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() > -0.5;}, Sequences.stopColourWheel());
 		onTriggered(() -> { return stick.getAxis(GamepadButtonsX.LEFT_X_AXIS).read() <= -0.5;}, Sequences.colourWheelLeft());
 
 
-		onTriggered(stick.getButton(GamepadButtonsX.LEFT_THUMBSTICK_CLICK), Sequences.hatchCalibrate());		
 		
 		// Lift movement. The position is set by whether the OI is in cargo mode or hatch mode 
 		// onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), () -> { 
@@ -252,10 +181,7 @@ public void configureOperatorJoystick(InputDevice stick, String name) {
 		}); */
 
 		//Colour Wheel testing.
-		onTriggered(stick.getButton(GamepadButtonsX.Y_BUTTON), Sequences.colourWheelPositional(Colour.YELLOW));
-		onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.colourWheelPositional(Colour.BLUE));
-		onTriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.colourWheelPositional(Colour.RED));
-		onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.colourWheelPositional(Colour.GREEN));
+		onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.colourWheelPositional(Colour.UNKNOWN));
 		onTriggered(stick.getButton(GamepadButtonsX.START_BUTTON), Sequences.colourWheelRotational());
 		onTriggered(stick.getButton(GamepadButtonsX.BACK_BUTTON), Sequences.stopColourWheel());
 		onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.colourWheelLeft());
@@ -422,28 +348,7 @@ public void configureDiagBox(InputDevice box) {
 		onTriggered(box.getButton(OperatorBoxButtons.LOADER_PADDLE_EXTEND), 
 			() -> loaderIF.setPaddleExtended(true));
 
-		// Hatch overrides.
-		OverridableSubsystem<HatchInterface> hatchOverride = subsystems.hatchOverride;
-		// Get the interface that the diag box uses.
-		HatchInterface hatchIF = hatchOverride.getOverrideInterface();
-		// Setup the switch for manual/auto/off modes.
-		mapOverrideSwitch(box, OperatorBoxButtons.HATCH_DISABLE, OperatorBoxButtons.HATCH_MANUAL, hatchOverride);
-	  // Run the motor left while the move left button is pressed.
-		onTriggered(box.getButton(OperatorBoxButtons.HATCH_MOVE_LEFT), 
-			() -> hatchIF.setAction(new HatchAction(HatchAction.Type.SET_MOTOR_POWER, 0.2)));
-		onUntriggered(box.getButton(OperatorBoxButtons.HATCH_MOVE_LEFT), 
-			() -> hatchIF.setAction(new HatchAction(HatchAction.Type.SET_MOTOR_POWER, 0)));
-		// Run the motor right while the move right button is pressed.
-		onTriggered(box.getButton(OperatorBoxButtons.HATCH_MOVE_RIGHT), 
-			() -> hatchIF.setAction(new HatchAction(HatchAction.Type.SET_MOTOR_POWER, -0.2)));
-		onUntriggered(box.getButton(OperatorBoxButtons.HATCH_MOVE_RIGHT), 
-			() -> hatchIF.setAction(new HatchAction(HatchAction.Type.SET_MOTOR_POWER, 0)));
-		// Hatch grabber.
-		onTriggered(box.getButton(OperatorBoxButtons.HATCH_HOLD), 
-			() -> hatchIF.setHeld(true));
-		onTriggered(box.getButton(OperatorBoxButtons.HATCH_RELEASE), 
-			() -> hatchIF.setHeld(false));
-
+		
 		// Lift overrides. Buttons shared with the Spark Test override, disable it before enabling lift.
 		OverridableSubsystem<LiftInterface> liftOverride = subsystems.liftOverride;
 		// Get the interface that the diag box uses.

From 929563f5b93de66dc55257edbcae8a31edd01251 Mon Sep 17 00:00:00 2001
From: Amogh J <amoghj.au@gmail.com>
Date: Tue, 25 Feb 2020 20:18:19 +1100
Subject: [PATCH 3/9] Mapped most of the buttons to empty sequences

---
 src/main/java/frc/robot/OI.java | 85 ++++++++++++++++++++++++++-------
 1 file changed, 67 insertions(+), 18 deletions(-)

diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 771d73e..cd0ec9c 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -47,27 +47,36 @@ public OI(Controller controller, Subsystems subsystems, Log log) {
 	 *      (left thumbstick)   (right thumbstick)
 	 * 
 	 * Driver Controls:
-	 * Left Flight Joystick: Back/Forward
-	 * Right Flight Joystick: Left/Right
-	 * Left Joystick Trigger (Button 1): Half speed mode.
+	 * Left flight joystick: move back/forward, climb up/down
+	 * Right flight joystick: left/right
+	 * Right joystick bottom close left button (Button 12): deploy PTO
+	 * Right joystick bottom close right button (Button 11): stow PTO
+	 * Right joysick bottom middle right button (Button 10): brake
+	 * Right joystick bottom middle left button (Button 9): stop braking
+	 * Right joystick top close left button (Button 3): shoot
+	 * Right joystick thumb button (Button 2): intake
+	 * Right joystick trigger (Button 1): vision lineup
+	 * Left joystick trigger (Button 1): slow/half speed
+	 * 
 	 * 
 	 * Operator Controls:
+	 * Pushing (A) begins positional control. 
+	 * Pushing (B) stops the colourwheel from turning.	 
+	 * Pushing (X) begins rotational control. 
+	 * Pushing left stick to the left rotates colourwheel anticlockwise
+	 * Pushing left stick to the right rotates colourwheel clockwise
+	 * Pushing (left bumper) sets the hood and shooter to preset shot 1.
+	 * Pushing (right bumper) sets the hood and shooter to preset shot 2.
 	 * 
-	 * The hat vertical controls the lift height. Repeatedly pushing makes it go to the next height.
-	 * The hat horizontal controls the sideways scoring.
-	 * Pushing (A) starts intaking. Releasing it, stops intaking.
-	 * Pushing (B) does an intake eject. Releasing it, stops ejecting.
-	 * Pushing (left bumper) does a front eject (ie the outtake opens for the cube to fall out).
-	 * Pushing both triggers deploys the ramp (safety)
-	 * Pushing (Y) gets the robot ready for climbing.
-	 * While (X) is held, the robot will climb. 
-	 * (start) resets the robot lift at the bottom and intake stowed.
 	 * 
 	 * The following buttons are unused:
-	 *  (back)(mode)(left bumper).
+	 * (back)(mode)(left bumper)(right stick up/down/left/right)(left stick up/down)
+	 * (left trigger)(right trigger)(back)(start)(left joystick click)(right joystick click)
+	 * (D-pad up/down/left/right)(Y)
+	 * 
 	 */
 	public void configureJoysticks(FlightStick driverLeft, FlightStick driverRight, InputDevice operator) {
-		// Left and RIght driver joysticks have separate mappings, as well as Operator controller.
+		// Left and Right driver joysticks have separate mappings, as well as Operator controller.
 		configureDriverJoystick(driverLeft, driverRight, "driverSticks");
     	configureOperatorJoystick(operator, "operator");
 	}
@@ -77,14 +86,35 @@ public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStic
 
 		// Intake - Right Stick Button 2 (on/off)
 		onTriggered(rightStick.getButton(2), Sequences.startIntaking());
-		
 		onUntriggered(rightStick.getButton(2), Sequences.stopIntaking());
-
+		
+		//slowdrive
 		onTriggered(leftStick.getButton(1), Sequences.startSlowDriveForward());
 		onUntriggered(leftStick.getButton(1), Sequences.setDrivebaseToArcade());
 
-		onTriggered(rightStick.getButton(3), Sequences.turnToWall());  // Face the drivers station wall.
-		onUntriggered(rightStick.getButton(3), Sequences.setDrivebaseToArcade());
+		//deploy pto (empty sequence)
+		onTriggered(rightStick.getButton(12), Sequences.getEmptySequence());
+		onUntriggered(rightStick.getButton(12), Sequences.getEmptySequence());
+
+		//stow pto (empty sequence)
+		onTriggered(rightStick.getButton(11), Sequences.getEmptySequence());
+		onUntriggered(rightStick.getButton(11), Sequences.getEmptySequence());		
+
+		//brake (empty sequence)
+		onTriggered(rightStick.getButton(10), Sequences.getEmptySequence());
+		onUntriggered(rightStick.getButton(10), Sequences.getEmptySequence());		
+
+		//stop braking (empty sequence)
+		onTriggered(rightStick.getButton(9), Sequences.getEmptySequence());
+		onUntriggered(rightStick.getButton(9), Sequences.getEmptySequence());	
+
+		//shoot (empty sequence)
+		onTriggered(rightStick.getButton(3), Sequences.getEmptySequence());
+		onUntriggered(rightStick.getButton(3), Sequences.getEmptySequence());	
+
+		//vision lineup
+		onTriggered(rightStick.getButton(2), Sequences.visionAim());
+		onUntriggered(rightStick.getButton(2), Sequences.getEmptySequence());	
 	}
 
 	public void configureOperatorJoystick(InputDevice stick, String name) {
@@ -99,6 +129,25 @@ public void configureOperatorJoystick(InputDevice stick, String name) {
 		});
 		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.stopIntaking());
 
+		//colourwheel positional
+		//lucas pls do the colourwheel stuff amogh is confused
+		onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.colourWheelPositional(WheelColour.UNKNOWN));
+		onUntriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.getEmptySequence());
+
+		//colourwheel rotational
+		onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.colourWheelRotational());
+		onUntriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.getEmptySequence());
+	
+		//shot 1
+		//currently no sequence 
+		onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
+		onUntriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
+
+		//shot 2
+		//currently no sequence 
+		onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
+		onUntriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
+
 		// Colour Wheel testing.
 		onTriggered(stick.getButton(GamepadButtonsX.Y_BUTTON), Sequences.colourWheelPositional(WheelColour.YELLOW));
 		onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.colourWheelPositional(WheelColour.BLUE));

From 85daea97af2f301e998cd9d9129e86a0f695cafa Mon Sep 17 00:00:00 2001
From: Amogh J <amoghj.au@gmail.com>
Date: Sat, 29 Feb 2020 15:11:06 +1100
Subject: [PATCH 4/9] hopefully final changes to button mappings

---
 src/main/java/frc/robot/OI.java               | 121 ++++++++++--------
 .../java/frc/robot/lib/GamepadButtonsX.java   |   4 +-
 2 files changed, 68 insertions(+), 57 deletions(-)

diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index cd0ec9c..1b8675e 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -47,32 +47,32 @@ public OI(Controller controller, Subsystems subsystems, Log log) {
 	 *      (left thumbstick)   (right thumbstick)
 	 * 
 	 * Driver Controls:
-	 * Left flight joystick: move back/forward, climb up/down
+	 * Left flight joystick: move back/forward, climb up
 	 * Right flight joystick: left/right
-	 * Right joystick bottom close left button (Button 12): deploy PTO
-	 * Right joystick bottom close right button (Button 11): stow PTO
-	 * Right joysick bottom middle right button (Button 10): brake
-	 * Right joystick bottom middle left button (Button 9): stop braking
-	 * Right joystick top close left button (Button 3): shoot
-	 * Right joystick thumb button (Button 2): intake
-	 * Right joystick trigger (Button 1): vision lineup
+	 * While held, right joystick top far left button (Button 5): release ratchets
+	 * While not held, right joystick top far left button (Button 5): enable ratchets
+	 * Right joystick top far right button (Button 6): shift PTO mode
+	 * Right joystick trigger (Button 1): intake
+	 * Right joystick thumb button (Button 2): vision lineup
 	 * Left joystick trigger (Button 1): slow/half speed
 	 * 
 	 * 
 	 * Operator Controls:
-	 * Pushing (A) begins positional control. 
-	 * Pushing (B) stops the colourwheel from turning.	 
-	 * Pushing (X) begins rotational control. 
+	 * Pushing (A) begins positional control 
+	 * Pushing (B) deploys/stows buddy climber	 
+	 * Pushing (X) begins rotational control 
+	 * Pushing (Y) deploy/stow the colourwheel 
+	 * Left trigger: shoot
 	 * Pushing left stick to the left rotates colourwheel anticlockwise
 	 * Pushing left stick to the right rotates colourwheel clockwise
-	 * Pushing (left bumper) sets the hood and shooter to preset shot 1.
-	 * Pushing (right bumper) sets the hood and shooter to preset shot 2.
+	 * Pushing (left bumper) sets the hood and shooter to preset shot 1
+	 * Pushing (right bumper) sets the hood and shooter to preset shot 2
 	 * 
 	 * 
-	 * The following buttons are unused:
-	 * (back)(mode)(left bumper)(right stick up/down/left/right)(left stick up/down)
-	 * (left trigger)(right trigger)(back)(start)(left joystick click)(right joystick click)
-	 * (D-pad up/down/left/right)(Y)
+	 * The following operator buttons are unused:
+	 * (back)(mode)(right stick up/down/left/right)(left stick up/down)(left trigger)
+	 * (right trigger)(back)(start)(left joystick click)(right joystick click)
+	 * (D-pad up/down/left/right)
 	 * 
 	 */
 	public void configureJoysticks(FlightStick driverLeft, FlightStick driverRight, InputDevice operator) {
@@ -84,33 +84,21 @@ public void configureJoysticks(FlightStick driverLeft, FlightStick driverRight,
 	
 	public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStick, String name) {
 
-		// Intake - Right Stick Button 2 (on/off)
-		onTriggered(rightStick.getButton(2), Sequences.startIntaking());
-		onUntriggered(rightStick.getButton(2), Sequences.stopIntaking());
+		//intake 
+		onTriggered(rightStick.getButton(1), Sequences.startIntaking());
+		onUntriggered(rightStick.getButton(1), Sequences.stopIntaking());
 		
 		//slowdrive
 		onTriggered(leftStick.getButton(1), Sequences.startSlowDriveForward());
 		onUntriggered(leftStick.getButton(1), Sequences.setDrivebaseToArcade());
 
-		//deploy pto (empty sequence)
-		onTriggered(rightStick.getButton(12), Sequences.getEmptySequence());
-		onUntriggered(rightStick.getButton(12), Sequences.getEmptySequence());
+		//release/enable ratchets (empty sequence)
+		onTriggered(rightStick.getButton(5), Sequences.getEmptySequence());
+		onUntriggered(rightStick.getButton(5), Sequences.getEmptySequence());		
 
-		//stow pto (empty sequence)
-		onTriggered(rightStick.getButton(11), Sequences.getEmptySequence());
-		onUntriggered(rightStick.getButton(11), Sequences.getEmptySequence());		
-
-		//brake (empty sequence)
-		onTriggered(rightStick.getButton(10), Sequences.getEmptySequence());
-		onUntriggered(rightStick.getButton(10), Sequences.getEmptySequence());		
-
-		//stop braking (empty sequence)
-		onTriggered(rightStick.getButton(9), Sequences.getEmptySequence());
-		onUntriggered(rightStick.getButton(9), Sequences.getEmptySequence());	
-
-		//shoot (empty sequence)
-		onTriggered(rightStick.getButton(3), Sequences.getEmptySequence());
-		onUntriggered(rightStick.getButton(3), Sequences.getEmptySequence());	
+		//shift PTO mode (empty sequence)
+		onTriggered(rightStick.getButton(6), Sequences.getEmptySequence());
+		onUntriggered(rightStick.getButton(6), Sequences.getEmptySequence());		
 
 		//vision lineup
 		onTriggered(rightStick.getButton(2), Sequences.visionAim());
@@ -118,36 +106,59 @@ public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStic
 	}
 
 	public void configureOperatorJoystick(InputDevice stick, String name) {
-		// Reset robot: intake stowed and lift at bottom.
-		//TODO: update
-		// onTriggered(stick.getButton(GamepadButtonsX.START_BUTTON), Sequences.getStartSequence());
+		// i dont know what the text below is for, its from 2019
+		//onTriggered(stick.getButton(GamepadButtonsX.START_BUTTON), Sequences.getStartSequence());
 		
-		// Intake
-		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD),
-		() -> {
-			return Sequences.startIntaking();
-		});
-		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.stopIntaking());
+		//lucas pls finish the colourwheel stuff amogh is confused
+		
+		//note: manual adjust doesnt have an untriggered stop on it 
+		//note: drop colourwheel has a seperate button (Y)
+
 
 		//colourwheel positional
-		//lucas pls do the colourwheel stuff amogh is confused
 		onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.colourWheelPositional(WheelColour.UNKNOWN));
-		onUntriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.getEmptySequence());
+		onUntriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.stopColourWheel());
 
 		//colourwheel rotational
 		onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.colourWheelRotational());
-		onUntriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.getEmptySequence());
-	
-		//shot 1
-		//currently no sequence 
+		onUntriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.stopColourWheel());
+
+		//manual adjust clockwise  
+		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD),
+		() -> {
+			return Sequences.colourWheelRight();
+		});
+		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.getEmptySequence());
+
+		//manual adjust anticlockwise  
+		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, -GamepadButtonsX.AXIS_THRESHOLD),
+		() -> {
+			return Sequences.colourWheelLeft();
+		});
+		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.getEmptySequence());
+
+		//deploy/stow colourwheel, toggle (empty sequence)
+		onTriggered(stick.getButton(GamepadButtonsX.Y_BUTTON), Sequences.getEmptySequence());
+
+		//shoot (empty sequence)
+		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD),
+		() -> {
+			return Sequences.getEmptySequence();
+		});
+		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.getEmptySequence());
+
+		//shot 1 (empty sequence)
 		onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
 		onUntriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
 
-		//shot 2
-		//currently no sequence 
+		//shot 2 (empty sequence) 
 		onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
 		onUntriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
 
+		//buddy climb, toggle (empty sequence)
+		onTriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.getEmptySequence());
+		onUntriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.getEmptySequence());
+
 		// Colour Wheel testing.
 		onTriggered(stick.getButton(GamepadButtonsX.Y_BUTTON), Sequences.colourWheelPositional(WheelColour.YELLOW));
 		onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.colourWheelPositional(WheelColour.BLUE));
diff --git a/src/main/java/frc/robot/lib/GamepadButtonsX.java b/src/main/java/frc/robot/lib/GamepadButtonsX.java
index caa9637..7a5b4c1 100644
--- a/src/main/java/frc/robot/lib/GamepadButtonsX.java
+++ b/src/main/java/frc/robot/lib/GamepadButtonsX.java
@@ -34,8 +34,8 @@ public class GamepadButtonsX {
     public static final int RIGHT_X_AXIS = 4;
     public static final int RIGHT_Y_AXIS = 5;
     
-    public static final double TRIGGER_THRESHOLD = 0.2;			// trigger greater than this is considered 'on' as a switch
-    public static final double AXIS_THRESHOLD = 0.1;			// axis greater than this is considered 'on' as a switch
+    public static final double TRIGGER_THRESHOLD = 0.6;			// trigger greater than this is considered 'on' as a switch
+    public static final double AXIS_THRESHOLD = 0.3;			// axis greater than this is considered 'on' as a switch
     
     public static final int DPAD_NORTH = 0;
     public static final int DPAD_NORTH_EAST = 45;

From f3a43cdb21d4ac5875d1f7717c71404fcfa8e036 Mon Sep 17 00:00:00 2001
From: Amogh J <amoghj.au@gmail.com>
Date: Sat, 29 Feb 2020 16:27:36 +1100
Subject: [PATCH 5/9] did some diag mapping, cried a little, all g

---
 src/main/java/frc/robot/OI.java | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 1b8675e..959361b 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -11,6 +11,8 @@
 import frc.robot.controller.Sequence;
 import frc.robot.controller.Sequences;
 import frc.robot.interfaces.*;
+import frc.robot.interfaces.ClimberInterface.ClimberAction;
+import frc.robot.interfaces.ClimberInterface.ClimberAction.Type;
 import frc.robot.lib.GamepadButtonsX;
 import frc.robot.lib.OperatorBoxButtons;
 import frc.robot.lib.WheelColour;
@@ -96,7 +98,7 @@ public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStic
 		onTriggered(rightStick.getButton(5), Sequences.getEmptySequence());
 		onUntriggered(rightStick.getButton(5), Sequences.getEmptySequence());		
 
-		//shift PTO mode (empty sequence)
+		//shift PTO mode, toggle (empty sequence)
 		onTriggered(rightStick.getButton(6), Sequences.getEmptySequence());
 		onUntriggered(rightStick.getButton(6), Sequences.getEmptySequence());		
 
@@ -110,7 +112,7 @@ public void configureOperatorJoystick(InputDevice stick, String name) {
 		//onTriggered(stick.getButton(GamepadButtonsX.START_BUTTON), Sequences.getStartSequence());
 		
 		//lucas pls finish the colourwheel stuff amogh is confused
-		
+
 		//note: manual adjust doesnt have an untriggered stop on it 
 		//note: drop colourwheel has a seperate button (Y)
 
@@ -186,9 +188,9 @@ public void configureDiagBox(InputDevice box) {
 	    // While the intake speed button is pressed, set the target speed. Does not turn off.
 		whileTriggered(box.getButton(OperatorBoxButtons.INTAKE_MOTOR), 
 			() -> intakeIF.setMotorOutput(box.getAxis(OperatorBoxButtons.INTAKE_POT).read()));
-		onTriggered(box.getButton(OperatorBoxButtons.INTAKE_EXTEND), 
+		onTriggered(box.getButton(OperatorBoxButtons.INTAKE_DEPLOY), 
 			() -> intakeIF.setExtended(true));
-		onTriggered(box.getButton(OperatorBoxButtons.INTAKE_RETRACT), 
+		onTriggered(box.getButton(OperatorBoxButtons.INTAKE_STOW), 
 			() -> intakeIF.setExtended(false));
 
 		// Get the interface that the diag box uses.
@@ -209,11 +211,20 @@ public void configureDiagBox(InputDevice box) {
 		onUntriggered(box.getButton(OperatorBoxButtons.LOADER_FEEDER_MOTOR),
 			() -> loaderIF.setTargetFeederMotorOutput(0));
 		
-		
 		onTriggered(box.getButton(OperatorBoxButtons.LOADER_PADDLE_RETRACT), 
 			() -> loaderIF.setPaddleExtended(false));
 		onTriggered(box.getButton(OperatorBoxButtons.LOADER_PADDLE_EXTEND), 
 			() -> loaderIF.setPaddleExtended(true));
+
+		
+		ClimberInterface climberIF = subsystems.climberOverride.getOverrideInterface();
+		// Setup the switch for manual/auto/off modes.
+		mapOverrideSwitch(box, OperatorBoxButtons.CLIMBER_DISABLE, OperatorBoxButtons.CLIMBER_MANUAL, subsystems.climberOverride);
+		onTriggered(box.getButton(OperatorBoxButtons.CLIMBER_EXTEND), 
+			() -> climberIF.setDesiredAction(new ClimberAction(Type.SET_BOTH_HEIGHT, 
+			0.2*box.getAxis(OperatorBoxButtons.CLIMBER_POT).read())));
+	
+		
 }
 
 

From f3c5dfde155d4da5651f0acc72a8c496e1d9029d Mon Sep 17 00:00:00 2001
From: Amogh J <amoghj.au@gmail.com>
Date: Sat, 29 Feb 2020 16:28:19 +1100
Subject: [PATCH 6/9] mapped some diag buttons (again), 2.0

---
 .../java/frc/robot/interfaces/ClimberInterface.java  |  2 +-
 src/main/java/frc/robot/lib/OperatorBoxButtons.java  | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/interfaces/ClimberInterface.java b/src/main/java/frc/robot/interfaces/ClimberInterface.java
index 909b6f8..e7052bc 100644
--- a/src/main/java/frc/robot/interfaces/ClimberInterface.java
+++ b/src/main/java/frc/robot/interfaces/ClimberInterface.java
@@ -14,7 +14,7 @@ public ClimberAction(Type type, double value) {
             this.value = value;
         }
 
-        public enum Type{
+        public enum Type {
             SET_FRONT_HEIGHT, 
             SET_REAR_HEIGHT,
             SET_BOTH_HEIGHT,
diff --git a/src/main/java/frc/robot/lib/OperatorBoxButtons.java b/src/main/java/frc/robot/lib/OperatorBoxButtons.java
index b30634f..94a60de 100644
--- a/src/main/java/frc/robot/lib/OperatorBoxButtons.java
+++ b/src/main/java/frc/robot/lib/OperatorBoxButtons.java
@@ -83,10 +83,9 @@ public class OperatorBoxButtons {
 	public static final int CLIMBER_DISABLE = RED_DISABLE;
 	public static final int CLIMBER_MANUAL = RED_MANUAL;
 	public static final int CLIMBER_POT = RED_POT;
-	public static final int CLIMBER_FRONT_HEIGHT = RED_BUTTON1;
-	public static final int CLIMBER_REAR_HEIGHT = RED_BUTTON2;
-	public static final int CLIMBER_BOTH_HEIGHT = RED_BUTTON3;
-	public static final int CLIMBER_DRIVE_SPEED = RED_BUTTON4;
+	public static final int CLIMBER_EXTEND = RED_BUTTON1;
+	public static final int CLIMBER_RETRACT = RED_BUTTON2;
+
 
 	// Intake (shares with passthru)
 	public static final int INTAKE_DISABLE = YELLOW_DISABLE;
@@ -97,8 +96,9 @@ public class OperatorBoxButtons {
 	public static final int LOADER_DISABLE = YELLOW_DISABLE;
 	public static final int LOADER_MANUAL = YELLOW_MANUAL;
 	public static final int INTAKE_MOTOR = YELLOW_BUTTON1;
-	public static final int INTAKE_EXTEND = YELLOW_BUTTON3;
-	public static final int INTAKE_RETRACT = YELLOW_BUTTON4;
+	public static final int INTAKE_DEPLOY = YELLOW_BUTTON3;
+	public static final int INTAKE_STOW = YELLOW_BUTTON4;
+
 	// Loader
 	public static final int LOADER_PADDLE_RETRACT = YELLOW_BUTTON4; //Undecided/Unassigned Buttons
 	public static final int LOADER_PADDLE_EXTEND = YELLOW_BUTTON4;

From 563973a6685ade871160df85737c2acd573eff2e Mon Sep 17 00:00:00 2001
From: Amogh J <amoghj.au@gmail.com>
Date: Sat, 29 Feb 2020 16:53:57 +1100
Subject: [PATCH 7/9] commented some code out

---
 src/main/java/frc/robot/OI.java | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index a3c0aac..de807bf 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -225,18 +225,20 @@ public void configureDiagBox(InputDevice box) {
 		onTriggered(box.getButton(OperatorBoxButtons.LOADER_PADDLE_NOTBLOCKING), 
 			() -> loaderIF.setPaddleNotBlocking(true));
 
-		
+		//might be outdated already
+		/*
 		ClimberInterface climberIF = subsystems.climberOverride.getOverrideInterface();
 		// Setup the switch for manual/auto/off modes.
 		mapOverrideSwitch(box, OperatorBoxButtons.CLIMBER_DISABLE, OperatorBoxButtons.CLIMBER_MANUAL, subsystems.climberOverride);
 		onTriggered(box.getButton(OperatorBoxButtons.CLIMBER_EXTEND), 
 			() -> climberIF.setDesiredAction(new ClimberAction(Type.SET_BOTH_HEIGHT, 
 			0.2*box.getAxis(OperatorBoxButtons.CLIMBER_POT).read())));
-	
+		*/
 		
 }
 
 
+
 	private void mapOverrideSwitch(InputDevice box, int disableButton, int manualButton, OverridableSubsystem overrideableSubsystem) {
 		onTriggered(box.getButton(disableButton), () -> overrideableSubsystem.turnOff());
 		onTriggered(box.getButton(manualButton), () -> overrideableSubsystem.setManualMode());

From 91d09bb18f822ff974714a154235abcacdbab2b0 Mon Sep 17 00:00:00 2001
From: mrwaldron <mark.r.waldron@gmail.com>
Date: Sat, 29 Feb 2020 20:55:46 +1100
Subject: [PATCH 8/9] Finish mapping buttons.

Some functionality had to be switched to toggle to match the button
design.
---
 src/main/java/frc/robot/Constants.java        |   1 +
 src/main/java/frc/robot/OI.java               | 108 +++++-------------
 .../java/frc/robot/controller/Controller.java |  26 +++--
 .../java/frc/robot/controller/Sequences.java  |  93 +++++++++------
 src/main/java/frc/robot/controller/State.java |  70 ++++++------
 .../frc/robot/lib/RobotConfiguration.java     |   4 +-
 .../java/frc/robot/subsystems/Shooter.java    |  12 +-
 .../java/frc/robot/subsystems/Subsystems.java |   4 +-
 8 files changed, 153 insertions(+), 165 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c8d30f3..a138d11 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -124,6 +124,7 @@ private Constants() {
 	* Shooter constants
 	*/
 	public static final int[] SHOOTER_TALON_CAN_ID_LIST	 = {30, 31, 32};
+	public static final int SHOOTER_HOOD_SOLENOID_PORT = 3;
 	public static final double SHOOTER_SPEED_TOLERANCE_RPM = 600;
 	public static final double SHOOTER_F = 0.18;
 	public static final double SHOOTER_P = 0.7;
diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 673e47c..37153ba 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -48,7 +48,7 @@ public OI(Controller controller, Subsystems subsystems, Log log) {
 	 * 
 	 * Driver Controls:
 	 * Left flight joystick: move back/forward, climb up
-	 * Right flight joystick: left/right
+	 * Right flight joystick: left/right, climb up
 	 * While held, right joystick top far left button (Button 5): release ratchets
 	 * While not held, right joystick top far left button (Button 5): enable ratchets
 	 * Right joystick top far right button (Button 6): shift PTO mode
@@ -82,97 +82,60 @@ public void configureJoysticks(FlightStick driverLeft, FlightStick driverRight,
 	}
 		
 	
-	public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStick, String name) {
+	private void configureDriverJoystick(FlightStick leftStick, FlightStick rightStick, String name) {
 
 		// Intake 
 		onTriggered(rightStick.getButton(1), Sequences.startIntaking());
 		onUntriggered(rightStick.getButton(1), Sequences.stopIntaking());
 		
-		// slowdrive
+		// Slow drive
 		onTriggered(leftStick.getButton(1), Sequences.startSlowDriveForward());
 		onUntriggered(leftStick.getButton(1), Sequences.setDrivebaseToArcade());
 
-		// release/enable ratchets (empty sequence)
-		onTriggered(rightStick.getButton(5), Sequences.getEmptySequence());
-		onUntriggered(rightStick.getButton(5), Sequences.getEmptySequence());		
+		// Release/enable ratchets (empty sequence)
+		onTriggered(rightStick.getButton(5), Sequences.releaseClimberBrake());
+		onUntriggered(rightStick.getButton(5), Sequences.applyClimberBrake());		
 
-		// shift PTO mode, toggle (empty sequence)
-		onTriggered(rightStick.getButton(6), Sequences.getEmptySequence());
-		onUntriggered(rightStick.getButton(6), Sequences.getEmptySequence());		
+		// Toggle drive / climb mode
+		onTriggered(rightStick.getButton(6), Sequences.toggleDriveClimbModes());
 
 		// Vision lineup
 		onTriggered(rightStick.getButton(2), Sequences.visionAim());
-		onUntriggered(rightStick.getButton(2), Sequences.getEmptySequence());	
+		onUntriggered(rightStick.getButton(2), Sequences.setDrivebaseToArcade());	
 
-		//onTriggered(rightStick.getButton(4), Sequences.deployBuddyClimber());
-		//onTriggered(rightStick.getButton(5), Sequences.retractBuddyClimber());
+		//onTriggered(rightStick.getButton(4), Sequences.toggleBuddyClimb());
 	}
 
-	public void configureOperatorJoystick(InputDevice stick, String name) {
-		// i dont know what the text below is for, its from 2019
-		//onTriggered(stick.getButton(GamepadButtonsX.START_BUTTON), Sequences.getStartSequence());
-		
-		//lucas pls finish the colourwheel stuff amogh is confused
-
-		//note: manual adjust doesnt have an untriggered stop on it 
-		//note: drop colourwheel has a seperate button (Y)
-
-
-		//colourwheel positional
+	private void configureOperatorJoystick(InputDevice stick, String name) {
+		// Colourwheel positional
 		onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.startColourWheelPositional(WheelColour.UNKNOWN));
 		onUntriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.stopColourWheel());
 
-		//colourwheel rotational
+		// Colourwheel rotational
 		onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.startColourWheelRotational());
 		onUntriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.stopColourWheel());
 
-		//manual adjust clockwise  
-		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD),
-		() -> {
-			return Sequences.colourWheelClockwise();
-		});
-		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.getEmptySequence());
-
-		//manual adjust anticlockwise  
-		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, -GamepadButtonsX.AXIS_THRESHOLD),
-		() -> {
-			return Sequences.colourWheelAnticlockwise();
-		});
-		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.getEmptySequence());
-
-		//deploy/stow colourwheel, toggle (empty sequence)
-		onTriggered(stick.getButton(GamepadButtonsX.Y_BUTTON), Sequences.getEmptySequence());
-
-		//shoot (empty sequence)
-		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD),
-		() -> {
-			return Sequences.getEmptySequence();
-		});
-		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.getEmptySequence());
-
-		//shot 1 (empty sequence)
-		onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
-		onUntriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
+		// Colourwheel manual adjust clockwise  
+		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.colourWheelClockwise());
+		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.stopColourWheel());
 
-		//shot 2 (empty sequence) 
-		onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
-		onUntriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
+		// Colourwheel manual adjust anticlockwise  
+		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, -GamepadButtonsX.AXIS_THRESHOLD), Sequences.colourWheelAnticlockwise());
+		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.stopColourWheel());
 
-		//buddy climb, toggle (empty sequence)
-		onTriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.getEmptySequence());
-		onUntriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.getEmptySequence());
+		// Close shot
+		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.startShooting(/*close=*/true));
+		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.stopShooting());
 
-		// Colour Wheel testing.
-		onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.startColourWheelPositional(WheelColour.UNKNOWN));
-		onUntriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.stopColourWheel());
-		onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.startColourWheelRotational());
-		onUntriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.stopColourWheel());
-		onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.colourWheelAnticlockwise());
-		onUntriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.stopColourWheel());
-		onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.colourWheelClockwise());
-		onUntriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.stopColourWheel());
+		// Far shot
+		onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.startShooting(/*close=*/false));
+		onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.stopShooting());
 
+		// Spin up shooter. Touch and release the close or far shot buttons to stop shooter wheel.
+		onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.spinUpShooter());
 
+		// Buddy climb toggle
+		onTriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.toggleBuddyClimb());
 	}
 
 
@@ -225,18 +188,7 @@ public void configureDiagBox(InputDevice box) {
 			() -> loaderIF.setPaddleNotBlocking(false));
 		onTriggered(box.getButton(OperatorBoxButtons.LOADER_PADDLE_NOTBLOCKING), 
 			() -> loaderIF.setPaddleNotBlocking(true));
-
-		//might be outdated already
-		/*
-		ClimberInterface climberIF = subsystems.climberOverride.getOverrideInterface();
-		// Setup the switch for manual/auto/off modes.
-		mapOverrideSwitch(box, OperatorBoxButtons.CLIMBER_DISABLE, OperatorBoxButtons.CLIMBER_MANUAL, subsystems.climberOverride);
-		onTriggered(box.getButton(OperatorBoxButtons.CLIMBER_EXTEND), 
-			() -> climberIF.setDesiredAction(new ClimberAction(Type.SET_BOTH_HEIGHT, 
-			0.2*box.getAxis(OperatorBoxButtons.CLIMBER_POT).read())));
-		*/
-		
-}
+	}
 
 
 
diff --git a/src/main/java/frc/robot/controller/Controller.java b/src/main/java/frc/robot/controller/Controller.java
index fd5dd77..9b20ac2 100644
--- a/src/main/java/frc/robot/controller/Controller.java
+++ b/src/main/java/frc/robot/controller/Controller.java
@@ -11,7 +11,6 @@
 import frc.robot.interfaces.ColourWheelInterface.ColourAction;
 import frc.robot.interfaces.ColourWheelInterface.ColourAction.ColourWheelType;
 import frc.robot.lib.WheelColour;
-import frc.robot.subsystems.ColourWheel;
 import frc.robot.subsystems.Subsystems;
 
 /**
@@ -124,11 +123,6 @@ public boolean isAlive() {
 	/**
 	 * Does the simple, dumb and most importantly, safe thing.
 	 * 
-	 * See the design doc before changing this.
-	 * 
-	 * Steps through: - Wait for all subsystems to finish moving. - Deploy or
-	 * retract the intake if necessary. -
-	 * 
 	 * Note if the step asks for something which will cause harm to the robot, the
 	 * request will be ignored. For example if the lift was moved into a position
 	 * the intake could hit it and then the intake was moved into the lift, the
@@ -169,11 +163,24 @@ private void applyState(State desiredState) {
 		
 		subsystems.colourWheel.setArmExtended(desiredState.extendColourWheel);
 		subsystems.colourWheel.setDesiredAction(desiredState.colourAction);
+
 		subsystems.shooter.setTargetRPM(desiredState.shooterRPM);
+		subsystems.shooter.setHoodExtended(desiredState.shooterHoodExtended);
+
+		// Toggle buddy climb if needed
+		if (desiredState.buddyClimbToggle) {
+			subsystems.buddyClimb.setExtended(!subsystems.buddyClimb.isExtended());
+		}
+
+		// Toggle between drive and climb modes if needed
+		if (desiredState.driveClimbModeToggle) {
+			subsystems.drivebase.activateClimbMode(!subsystems.drivebase.isClimbModeEnabled());
+		}
 
 		//subsystems.jevois.setCameraMode(desiredState.cameraMode);
 		maybeWaitForBalls(desiredState.expectedNumberOfBalls);
 		waitForIntake();
+		waitForShooterHood();
 		maybeWaitForShooter(desiredState.shooterUpToSpeed);
 		maybeWaitForColourWheel();
 		// Wait for driving to finish if needed.
@@ -200,7 +207,12 @@ private void waitForIntake() {
 		waitUntil(() -> subsystems.intake.isRetracted() || subsystems.intake.isExtended(), "intake to finish moving");
 	}
 
-
+	/**
+	 * Blocks waiting till the shooter hood is in position.
+	 */
+	private void waitForShooterHood() {
+		waitUntil(() -> subsystems.shooter.isHoodExtended() || subsystems.shooter.isHoodRetracted(), "hood to finish moving");
+	}
 
 	/**
 	 * Maybe wait for the shooter to get up to the target speed.
diff --git a/src/main/java/frc/robot/controller/Sequences.java b/src/main/java/frc/robot/controller/Sequences.java
index 0e96e38..2154e74 100644
--- a/src/main/java/frc/robot/controller/Sequences.java
+++ b/src/main/java/frc/robot/controller/Sequences.java
@@ -2,9 +2,6 @@
  * Sequences for doing most actions on the robot.
  * 
  * If you add a new sequence, add it to allSequences at the end of this file.
- * 
- * Design doc:
- *   https://docs.google.com/document/d/1IBAw5dKG8hiahRkd8FzU75j3yF6No33oQXtNEKi3LXc/edit#
  */
 package frc.robot.controller;
 
@@ -93,7 +90,10 @@ public static Sequence startSlowDriveForward() {
 
 	public static Sequence setDrivebaseToArcade() {
 		Sequence seq = new Sequence("Arcade");
-		seq.add().doArcadeDrive();
+		seq.add().doArcadeDrive()
+			.setShooterRPM(0) // Turn off everything that may be on.
+			.retractShooterHood()
+			.setLoaderSpinnerMotorRPM(0);
 		return seq;
 	}
 
@@ -161,36 +161,53 @@ public static Sequence startLoaderTest() {
 
 	// Testing methods
 	public static Sequence startIntakingOnly() {
-		Sequence seq = new Sequence("start Intaking");
+		Sequence seq = new Sequence("start intaking");
 		seq.add().deployIntake();
 		seq.add().setIntakeMotorOutput(INTAKE_MOTOR_CURRENT).deployIntake();
 		return seq;
 	}
 
 	public static Sequence stopIntakingOnly() {
-		Sequence seq = new Sequence("stop Intaking");
+		Sequence seq = new Sequence("stop intaking");
 		seq.add().setIntakeMotorOutput(0.0);
 		seq.add().stowIntake();
 		return seq;
 	}
+
 	// This is to test the Loader system
 	public static Sequence startLoader() {
-		Sequence seq = new Sequence("start Loader");
+		Sequence seq = new Sequence("start loader");
 		seq.add().setLoaderSpinnerMotorRPM(LOADER_MOTOR_RPM);
 		return seq;
 	}
 
 	public static Sequence stopLoader() {
-		Sequence seq = new Sequence("stop Loader");
+		Sequence seq = new Sequence("stop loader");
 		seq.add().setLoaderSpinnerMotorRPM(0.0);
 		return seq;
 	}
-	
-	public static Sequence startShooting() {
+
+	/**
+	 * As the shooter takes time to spin up, enable spinning
+	 * it up in advance.
+	 * Touch the startShooting() sequences to halt.
+	 */
+	public static Sequence spinUpShooter() {
+		Sequence seq = new Sequence("spin up shooter");
+		seq.add().setShooterRPM(SHOOTER_TARGET_SPEED_RPM);
+		return seq;
+	}
+
+	public static Sequence startShooting(boolean closeToGoal) {
 		Sequence seq = new Sequence("start shooting");
 		seq.add().setShooterRPM(SHOOTER_TARGET_SPEED_RPM);
-		// Give the shooter wheel time to spin up.
-		seq.add().setDelayDelta(2); 
+		if (closeToGoal) {
+			// Shooting from just below the goal straight up.
+			seq.add().retractShooterHood();
+		} else {
+			// Shooting from far from the goal at a flat angle.
+			seq.add().extendShooterHood();
+		}
 		// Start the loader to push the balls.
 		seq.add().setLoaderSpinnerMotorRPM(LOADER_MOTOR_RPM);
 		// Wait for the shooter wheel to settle.
@@ -233,9 +250,22 @@ public static Sequence stopDriveByVision() {
 	public static Sequence visionAim(){
 		Sequence seq = new Sequence("vision aim");
 		seq.add().setShooterRPM(SHOOTER_TARGET_SPEED_RPM);
+		// Start the loader to push the balls.
+		seq.add().setLoaderSpinnerMotorRPM(LOADER_MOTOR_RPM);
+		seq.add().extendShooterHood();
+		// Allow the robot to move to aim to the vision target while
+		// the shooter wheel spins up.
 		seq.add().doVisionAim(); 
+		// Wait for the shooter wheel to settle if it hasn't already.
 		seq.add().waitForShooter();
+		// Back to normal driving so it can be adjusted while shooting.
 		seq.add().doArcadeDrive();
+		// Let the balls out of the loader and into the shooter.
+		seq.add().unblockShooter();
+		// Wait for all of the balls to leave.
+		seq.add().waitForBalls(0);
+		// Turn off everything.
+		seq.add().setShooterRPM(0).setLoaderPassthroughMotorOutput(0).setLoaderSpinnerMotorRPM(0).blockShooter();
 		return seq;
 	}
 
@@ -276,41 +306,29 @@ public static Sequence colourWheelClockwise() {
 		return seq;
 	}
 
-	// Climber
-	public static Sequence enableClimbMode() {
-		Sequence seq = new Sequence("Enable climb mode");
-		seq.add().enableClimbMode();
+	// Drive / climb mode.
+	public static Sequence toggleDriveClimbModes() {
+		Sequence seq = new Sequence("toggle drive / climb modes");
+		seq.add().toggleDriveClimbMode();
 		return seq;
 	}
 
-	public static Sequence enableDriveMode() {
-		Sequence seq = new Sequence("Enable drive mode");
-		seq.add().enableDriveMode();
-		return seq;
-	}
-
-	public static Sequence climberBrake() {
-		Sequence seq = new Sequence("Climber brake apply");
+	public static Sequence applyClimberBrake() {
+		Sequence seq = new Sequence("apply climber brake");
 		seq.add().applyClimberBrake();
 		return seq;
 	}
 
-	public static Sequence climberStopBrake() {
-		Sequence seq = new Sequence("Climber brake release");
+	public static Sequence releaseClimberBrake() {
+		Sequence seq = new Sequence("release climber brake");
 		seq.add().releaseClimberBrake();
 		return seq;	
 	}
 
-	// Buddy Climb
-	public static Sequence deployBuddyClimber() {
-		Sequence seq = new Sequence("Deploying buddy climb attatchment");
-		seq.add().deployBuddyClimb();
-		return seq;
-	}
-
-	public static Sequence retractBuddyClimber() {
-		Sequence seq = new Sequence("Retracting buddy climb attatchment");
-		seq.add().retractBuddyClimb();
+	// Toggle buddy climb (deploy / retract)
+	public static Sequence toggleBuddyClimb() {
+		Sequence seq = new Sequence("toggle buddy climb attatchment");
+		seq.add().toggleBuddyClimb();
 		return seq;
 	}
 
@@ -322,13 +340,14 @@ public static Sequence retractBuddyClimber() {
 		getResetSequence(),
 		startIntaking(),
 		stopIntaking(),
-		startShooting(),
+		startShooting(true),
 		stopShooting(),
 		startIntakingOnly(),
 		stopIntakingOnly(),
 		getDriveToWaypointSequence(0, 12, 0),
 		startLoader(),
 		stopLoader(),
+		toggleBuddyClimb(),
 		visionAim(),
 	};	
 }  
\ No newline at end of file
diff --git a/src/main/java/frc/robot/controller/State.java b/src/main/java/frc/robot/controller/State.java
index c07c94d..4c36772 100644
--- a/src/main/java/frc/robot/controller/State.java
+++ b/src/main/java/frc/robot/controller/State.java
@@ -39,6 +39,7 @@ public class State {
 	public Double shooterRPM = null;  // Set the shooter target speed.
 	// If this field is not called shooterUpToSpeed plz update applyState() in Controller.java
 	public Boolean shooterUpToSpeed = null;
+	public Boolean shooterHoodExtended = null;
 
 	// Loader
 	public Double loaderPassthroughMotorOutput = null;
@@ -50,15 +51,13 @@ public class State {
 	// Vision
 	public CameraMode cameraMode = null;
 
-	// Climber
-	public Boolean climbModeEnabled = null;  // What the climber should do.
+	// Driving / Climbing
+	public DriveRoutineParameters drive = null;
+	public Boolean driveClimbModeToggle = null;
 	public Boolean climberBrakeApplied = null;
 
 	// Buddy Climb
-	public Boolean buddyClimbExtended = null;
-
-	// Driving.
-	public DriveRoutineParameters drive = null;
+	public Boolean buddyClimbToggle = null;
 
 	//Colour Wheel
 	public ColourAction colourAction = null;
@@ -77,14 +76,15 @@ public State(Subsystems subsystems, Clock clock) {
 		setDelayUntilTime(clock.currentTime());
 		intakeMotorOutput = subsystems.intake.getMotorOutput();
 		intakeExtended = subsystems.intake.isExtended();
-		buddyClimbExtended = subsystems.buddyClimb.isExtended();
-		climbModeEnabled = subsystems.drivebase.isClimbModeEnabled();
+		buddyClimbToggle = false;
+		driveClimbModeToggle = true;
 		climberBrakeApplied = subsystems.drivebase.isBrakeApplied();
 		loaderSpinnerMotorRPM = subsystems.loader.getTargetSpinnerMotorRPM();
 		loaderPassthroughMotorOutput = subsystems.loader.getTargetPassthroughMotorOutput();
 		loaderPaddleNotBlocking = subsystems.loader.isPaddleNotBlocking();
 		shooterRPM = subsystems.shooter.getTargetRPM();
 		shooterUpToSpeed = subsystems.shooter.isAtTargetSpeed();
+		shooterHoodExtended = subsystems.shooter.isHoodExtended();
 		drive = subsystems.drivebase.getDriveRoutine();
 		colourAction = subsystems.colourWheel.getDesiredAction();
 		extendColourWheel = subsystems.colourWheel.isArmExtended();
@@ -143,6 +143,16 @@ public State waitForShooter() {
 		return this;
 	}
 
+	public State extendShooterHood() {
+		shooterHoodExtended = true;
+		return this;
+	}
+
+	public State retractShooterHood() {
+		shooterHoodExtended = false;
+		return this;
+	}
+
 	// Loader
 	public State setLoaderSpinnerMotorRPM(double rpm) {
 		loaderSpinnerMotorRPM = Double.valueOf(rpm);
@@ -181,14 +191,9 @@ public State doCameraVision() {
 	}
 
 	
-	// Climber
-	public State enableClimbMode() {
-		climbModeEnabled = true;
-		return this;
-	}
-
-	public State enableDriveMode() {
-		climbModeEnabled = false;
+	// Toggle between drive and climb modes
+	public State toggleDriveClimbMode() {
+		driveClimbModeToggle = true;
 		return this;
 	}
 
@@ -202,14 +207,12 @@ public State releaseClimberBrake() {
 		return this;
 	}
 
-	// Buddy Climb
-	public State deployBuddyClimb() {
-		buddyClimbExtended = true;
-		return this;
-	}
-
-	public State retractBuddyClimb() {
-		buddyClimbExtended = true;
+	/**
+	 * Calling this will retract the buddy climb if it was deployed
+	 * and deploy it if it was retracted.
+	 */
+	public State toggleBuddyClimb() {
+		buddyClimbToggle = true;
 		return this;
 	}
 	
@@ -382,21 +385,22 @@ private static <T> void maybeAdd(String name, T value, ArrayList<String> result)
 	@Override
 	public String toString() {
 		ArrayList<String> result = new ArrayList<String>();
+		maybeAdd("buddyClimbToggle", buddyClimbToggle, result);
+		maybeAdd("cameraMode", cameraMode, result);
+		maybeAdd("colourWheelExtended", extendColourWheel, result);
+		maybeAdd("colourwheelMode", colourAction, result);
+		maybeAdd("climberBrakeApplied", climberBrakeApplied, result);
+		maybeAdd("driveClimbToggle", driveClimbModeToggle, result);
+		maybeAdd("drive", drive, result);
 		maybeAdd("intakeExtended", intakeExtended, result);
 		maybeAdd("intakeMotorOutput", intakeMotorOutput, result);
+		maybeAdd("loaderPaddleNotBlocking", loaderPaddleNotBlocking, result);
 		maybeAdd("loaderPassthroughMotorOutput", loaderPassthroughMotorOutput, result);
 		maybeAdd("loaderSpinnerMotorRPM", loaderSpinnerMotorRPM, result);
-		maybeAdd("loaderPaddleNotBlocking", loaderPaddleNotBlocking, result);
-		maybeAdd("shooterUpToSpeed", shooterUpToSpeed, result);
+		maybeAdd("shooterHoodExtended", shooterHoodExtended, result);
 		maybeAdd("shooterRPM", shooterRPM, result);
-		maybeAdd("drive", drive, result);
+		maybeAdd("shooterUpToSpeed", shooterUpToSpeed, result);
 		maybeAdd("timeAction", timeAction, result);
-		maybeAdd("cameraMode", cameraMode, result);
-		maybeAdd("colourwheelMode", colourAction, result);
-		maybeAdd("colourWheelExtended", extendColourWheel, result);
-		maybeAdd("climbModeEnabled", climbModeEnabled, result);
-		maybeAdd("climberBrakeApplied", climberBrakeApplied, result);
-		maybeAdd("buddyClimbExtended", buddyClimbExtended, result);
 		return "[" + String.join(",", result) + "]";
 	}
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/lib/RobotConfiguration.java b/src/main/java/frc/robot/lib/RobotConfiguration.java
index d377712..bd25b37 100644
--- a/src/main/java/frc/robot/lib/RobotConfiguration.java
+++ b/src/main/java/frc/robot/lib/RobotConfiguration.java
@@ -219,11 +219,11 @@ private void readParameters() {
 		sparkTestIsPresent = getAsBoolean("sparkTest/present", false);
 		sparkTestCanIds = getAsIntArray("sparkTest/canID", Constants.TEST_SPARK_MOTOR_CAN_ID_LIST);
 
-		loaderIsPresent = getAsBoolean("loader/present", true);
+		loaderIsPresent = getAsBoolean("loader/present", false);
 		loaderSpinnerCanID = getAsInt("loader/spinner/canID", Constants.LOADER_SPINNER_MOTOR_CAN_ID);
 		loaderPassthroughCanID = getAsInt("loader/passthrough/canID", Constants.LOADER_PASSTHROUGH_MOTOR_CAN_ID);
 
-		shooterIsPresent = getAsBoolean("shooter/present", true);
+		shooterIsPresent = getAsBoolean("shooter/present", false);
 		shooterCanIds = getAsIntArray("shooter/shooterCanIDs", Constants.SHOOTER_TALON_CAN_ID_LIST);
 		
 		shooterP = getAsDouble("shooter/p", shooterP);
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index 73dbe45..93558fb 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -17,11 +17,11 @@
 public class Shooter extends Subsystem implements ShooterInterface {
 
     private final ShooterWheel flyWheel;
-    private final Solenoid solenoid;
+    private final Solenoid hood;
 
     public Shooter(Motor shooterMotor, Solenoid solenoid, DashboardInterface dashboard, Log log) {
         super("Shooter", dashboard, log);
-        this.solenoid = solenoid;
+        this.hood = solenoid;
         flyWheel = new ShooterWheel(shooterMotor);
         log.register(true, () -> isHoodExtended(), "%s/extended", name)
             .register(true, () -> isHoodRetracted(), "%s/retracted", name);
@@ -56,21 +56,21 @@ public boolean isAtTargetSpeed() {
     @Override
     public ShooterInterface setHoodExtended(boolean extend) {
         if (extend) {
-            solenoid.extend();
+            hood.extend();
         } else {
-            solenoid.retract();
+            hood.retract();
         }
         return this;
     }
 
     @Override
     public boolean isHoodExtended() {
-        return solenoid.isExtended();
+        return hood.isExtended();
     }
 
     @Override
     public boolean isHoodRetracted() {
-        return solenoid.isRetracted();
+        return hood.isRetracted();
     }
 
     protected class ShooterWheel {
diff --git a/src/main/java/frc/robot/subsystems/Subsystems.java b/src/main/java/frc/robot/subsystems/Subsystems.java
index 39fbf34..d7c9ed2 100644
--- a/src/main/java/frc/robot/subsystems/Subsystems.java
+++ b/src/main/java/frc/robot/subsystems/Subsystems.java
@@ -473,11 +473,11 @@ public void createShooter() {
 			return;
 		}
 
-		Solenoid shooterSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId, Constants.INTAKE_SOLENOID_PORT, 0.1, 0.1);
+		Solenoid hoodSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId, Constants.SHOOTER_HOOD_SOLENOID_PORT, 0.1, 0.1);
 		Motor shooterMotor = MotorFactory.getShooterMotor(config.shooterCanIds, false, config.shooterP, config.shooterI,
 				config.shooterD, config.shooterF, clock, log);
 
-		shooter = new Shooter(shooterMotor, shooterSolenoid, dashboard, log);
+		shooter = new Shooter(shooterMotor, hoodSolenoid, dashboard, log);
 	}
 
 	public void createShooterOverride() {

From a0337cffe4c18cf4886b7165f68c2329ce1ff5ef Mon Sep 17 00:00:00 2001
From: mrwaldron <mark.r.waldron@gmail.com>
Date: Sat, 29 Feb 2020 21:09:00 +1100
Subject: [PATCH 9/9] Tweaks to layout/comments.

---
 src/main/java/frc/robot/controller/Sequences.java | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/controller/Sequences.java b/src/main/java/frc/robot/controller/Sequences.java
index 2154e74..df449da 100644
--- a/src/main/java/frc/robot/controller/Sequences.java
+++ b/src/main/java/frc/robot/controller/Sequences.java
@@ -190,7 +190,7 @@ public static Sequence stopLoader() {
 	/**
 	 * As the shooter takes time to spin up, enable spinning
 	 * it up in advance.
-	 * Touch the startShooting() sequences to halt.
+	 * Use the button mapped for near/far shooting to halt.
 	 */
 	public static Sequence spinUpShooter() {
 		Sequence seq = new Sequence("spin up shooter");
@@ -200,6 +200,7 @@ public static Sequence spinUpShooter() {
 
 	public static Sequence startShooting(boolean closeToGoal) {
 		Sequence seq = new Sequence("start shooting");
+		// Shooter wheel may already be up to speed.
 		seq.add().setShooterRPM(SHOOTER_TARGET_SPEED_RPM);
 		if (closeToGoal) {
 			// Shooting from just below the goal straight up.
@@ -265,7 +266,10 @@ public static Sequence visionAim(){
 		// Wait for all of the balls to leave.
 		seq.add().waitForBalls(0);
 		// Turn off everything.
-		seq.add().setShooterRPM(0).setLoaderPassthroughMotorOutput(0).setLoaderSpinnerMotorRPM(0).blockShooter();
+		seq.add().setShooterRPM(0)
+			.setLoaderPassthroughMotorOutput(0)
+			.setLoaderSpinnerMotorRPM(0)
+			.blockShooter();
 		return seq;
 	}
 
@@ -348,6 +352,7 @@ public static Sequence toggleBuddyClimb() {
 		startLoader(),
 		stopLoader(),
 		toggleBuddyClimb(),
+		toggleDriveClimbModes(),
 		visionAim(),
 	};	
 }  
\ No newline at end of file