From 10772a76b5deed4852dd70fa5f94de49dfbdb625 Mon Sep 17 00:00:00 2001
From: Brian Semrau <brian.semrau@gmail.com>
Date: Sat, 3 Mar 2018 12:57:40 -0500
Subject: [PATCH] Prevent joysticks from overriding in Autonomous mode

---
 src/org/usfirst/frc/team4737/robot/OI.java    | 10 +++++-----
 src/org/usfirst/frc/team4737/robot/Robot.java |  8 ++++++++
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/src/org/usfirst/frc/team4737/robot/OI.java b/src/org/usfirst/frc/team4737/robot/OI.java
index ec11a87..e29c93d 100644
--- a/src/org/usfirst/frc/team4737/robot/OI.java
+++ b/src/org/usfirst/frc/team4737/robot/OI.java
@@ -60,23 +60,23 @@ public OI() {
 		// User override to take control of the intake
 		new Trigger() {
 			public boolean get() {
-				return operator.getAxis("LT").get() != 0 || operator.getAxis("RT").get() != 0
-						|| operator.getAxis("RS_X").get() != 0;
+				return !Robot.getInstance().isAutonomous() && (operator.getAxis("LT").get() != 0
+						|| operator.getAxis("RT").get() != 0 || operator.getAxis("RS_X").get() != 0);
 			}
 		}.whileActive(new ControlIntake());
 
 		// User override to take control of driving
 		new Trigger() {
 			public boolean get() {
-				return driver.getThumbstick("LS").X.get() != 0 || driver.getAxis("LT").get() != 0
-						|| driver.getAxis("RT").get() != 0;
+				return !Robot.getInstance().isAutonomous() && (driver.getThumbstick("LS").X.get() != 0
+						|| driver.getAxis("LT").get() != 0 || driver.getAxis("RT").get() != 0);
 			}
 		}.whileActive(new TeleopRacingDrive());
 
 		// User override to take control of the elevator
 		new Trigger() {
 			public boolean get() {
-				return operator.getAxis("LS_Y").get() != 0;
+				return !Robot.getInstance().isAutonomous() && (operator.getAxis("LS_Y").get() != 0);
 			}
 		}.whileActive(new ControlElevator());
 
diff --git a/src/org/usfirst/frc/team4737/robot/Robot.java b/src/org/usfirst/frc/team4737/robot/Robot.java
index a253926..c9d3ea8 100644
--- a/src/org/usfirst/frc/team4737/robot/Robot.java
+++ b/src/org/usfirst/frc/team4737/robot/Robot.java
@@ -25,6 +25,12 @@
  * project.
  */
 public class Robot extends TimedRobot {
+	
+	private static Robot instance;
+	
+	public static Robot getInstance() {
+		return instance;
+	}
 
 	public static final Drivetrain DRIVETRAIN = new Drivetrain();
 	public static final Elevator ELEVATOR = new Elevator();
@@ -44,6 +50,8 @@ public class Robot extends TimedRobot {
 	 */
 	@Override
 	public void robotInit() {
+		instance = this;
+		
 		chooser.addDefault("No Auto", null);
 		chooser.addObject("Blind Baseline", new AutoBlindBaseline());
 		// Add new autonomous routines here