Fix bugs

Co-authored-by: Lucien Morey <lucienp@live.com.au>
thedropbears · Mar 11, 2024 · 7b701e9 · 7b701e9
1 parent 9e95f17
commit 7b701e9
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/components/climber.py b/components/climber.py
@@ -77,9 +77,7 @@ def enable_soft_limits(self) -> None:
 
     def should_lock_mechanisms(self) -> bool:
         # Climbs in the last 20 seconds are real climbs...
-        return (
-            wpilib.DriverStation.getMatchTime() < 20 and self.seen_deploy_limit_switch
-        )
+        return self.seen_deploy_limit_switch
 
     def deploy(self) -> None:
         if self.has_deploy_finished():
@@ -108,7 +106,7 @@ def execute(self) -> None:
         if self.has_climb_finished():
             if self.last_position is not self.POSITION.RETRACTED:
                 self.status_lights.no_note()
-            if wpilib.DriverStation.getMatchTime() < 20:
+            if wpilib.DriverStation.getMatchTime() > 20:
                 # reset in case of accidental climb
                 self.seen_deploy_limit_switch = False
         elif self.has_deploy_finished():