From 20908b5ba0b6bbb7d9fd5b5145d0f3d00bad034a Mon Sep 17 00:00:00 2001
From: mps-green <mps-green@team1675.org>
Date: Sat, 2 Mar 2019 16:13:55 -0600
Subject: [PATCH] can no longer slap wrist down when at high positions or
 release hatch when not on target

---
 src/main/java/frc/robot/commands/ReleaseHatch.java | 6 ++++--
 src/main/java/frc/robot/subsystems/Grabber.java    | 9 +++++++--
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ReleaseHatch.java b/src/main/java/frc/robot/commands/ReleaseHatch.java
index 7cf75c1..55d4aec 100644
--- a/src/main/java/frc/robot/commands/ReleaseHatch.java
+++ b/src/main/java/frc/robot/commands/ReleaseHatch.java
@@ -20,8 +20,10 @@ public ReleaseHatch() {
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.grabber.releaseHatch();
-    setTimeout(0.5);
+    if (Robot.elevator.elevatorOnTarget() == true) {
+      Robot.grabber.releaseHatch();
+      setTimeout(0.5);
+    }
   }
 
   // Called repeatedly when this Command is scheduled to run
diff --git a/src/main/java/frc/robot/subsystems/Grabber.java b/src/main/java/frc/robot/subsystems/Grabber.java
index 2984502..6bfc089 100644
--- a/src/main/java/frc/robot/subsystems/Grabber.java
+++ b/src/main/java/frc/robot/subsystems/Grabber.java
@@ -9,6 +9,7 @@
 
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import frc.robot.Robot;
 import frc.robot.RobotMap;
 
 /**
@@ -31,11 +32,15 @@ public Grabber() {
   }
 
   public void wristUp() {
-    armRotator.set(false);
+    if (Robot.elevator.getElevatorPosition() <= RobotMap.MIN_POSITION) {
+      armRotator.set(false); 
+    }
   }
 
   public void wristDown() {
-    armRotator.set(true);
+    if (Robot.elevator.getElevatorPosition() <= RobotMap.MIN_POSITION) {
+      armRotator.set(true); 
+    }
   }
 
   public void releaseHatch() {