Fix dean's comments and fix toggle limelight btn

Author: alexander-mcdowell

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

@@ -248,7 +248,7 @@ private void autoAlign() {
         }
       }
       else if (limelightMode == Limelight.Mode.STEER) {
-        adjustment = lime.distanceAssist();
+        adjustment = lime.steeringAssist();
         dt.drive(adjustment, -adjustment);
         if (Math.abs(adjustment) < minError)  {
           SmartDashboard.putBoolean("Finished Aligning", true);
@@ -266,13 +266,7 @@ else if (limelightMode == Limelight.Mode.STEER) {
   // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-      if (!SmartDashboard.getBoolean("Use Limelight", false) || SmartDashboard.getBoolean("Finished Aligning", false)) {
-        SmartDashboard.putBoolean("Use Limelight", false);
-        SmartDashboard.putBoolean("Finished Aligning", false);
-        return true;
-      } else {
-        return false;
-      }
+    return false;
   }
 
   // Called once after isFinished returns true

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

@@ -17,9 +17,9 @@ public ToggleLimelight() {
   @Override
   protected void initialize() {
     if (SmartDashboard.getBoolean("Using Limelight", false)) {
-        SmartDashboard.putBoolean("Using Limelight", true);
-    } else {
         SmartDashboard.putBoolean("Using Limelight", false);
+    } else {
+        SmartDashboard.putBoolean("Using Limelight", true);
     }
   }
 }

Robot2019/src/main/java/frc/robot/lib/Limelight.java

@@ -18,6 +18,13 @@ public enum Mode {
 
   private NetworkTableInstance inst;
   private NetworkTable table;
+  /* http://docs.limelightvision.io/en/latest/networktables_api.html
+  tv = Whether the limelight has any valid targets (0 or 1)
+  tx = Horizontal Offset From Crosshair To Target (-27 degrees to 27 degrees)
+  ty = Vertical Offset From Crosshair To Target (-20.5 degrees to 20.5 degrees)
+  ta = Target Area (0% of image to 100% of image)
+  There are more values we could be using. Check the documentation.
+  */
   private double tv, tx, ty, ta;
 
   public Limelight() {