Make requested change

Author: SaltyJoke

Robot2019/src/main/java/frc/robot/commands/Climb.java

@@ -65,7 +65,7 @@ protected void execute() {
       break;
     case RETRACTING:
       climber.runClimber(retract);
-      if (climber.getEncDistance() >= retractGoal) {
+      if (climber.getEncDistance() <= retractGoal) {
         state = State.FINISHED;
       }
       break;

Robot2019/src/main/java/frc/robot/commands/ManualClimb.java

@@ -19,7 +19,7 @@ public class ManualClimb extends Command {
   private Joystick leftJoy, rightJoy;
 
   final private double retractDist = 0;
-  final private double climbDist = -24.46; // In inches, reversed
+  final private double climbDist = 24.46; // In inches
 
   public ManualClimb(Climber climber, Drivetrain dt, Joystick leftJoy, Joystick rightJoy) {
     // Use requires() here to declare subsystem dependencies
@@ -47,9 +47,9 @@ protected void execute() {
     double climbSpeed = -leftJoy.getY();
     double driveSpeed = -rightJoy.getY();
 
-    if (climbSpeed > 0 && climber.getEncDistance() <= climbDist) {
+    if (climbSpeed > 0 && climber.getEncDistance() >= climbDist) {
       climbSpeed = 0;
-    } else if (climbSpeed < 0 && climber.getEncDistance() >= retractDist) {
+    } else if (climbSpeed < 0 && climber.getEncDistance() <= retractDist) {
       climbSpeed = 0;
     }
     climber.runClimber(climbSpeed);

Robot2019/src/main/java/frc/robot/subsystems/Climber.java

@@ -36,6 +36,7 @@ public Climber(VictorSP motor, Encoder enc, AHRS ahrs, DoubleSolenoid pistons) {
     double pulseFraction = 1.0/256;
     double pitchDiameter = 1.790; // https://www.vexrobotics.com/35-sprockets.html#Drawing
     enc.setDistancePerPulse(pulseFraction * Math.PI * pitchDiameter);
+    enc.setReverseDirection(true);
     enc.reset();
   }