Fixed a problem where the OPControl was trying to pull values from an array that never had any values to begin with

causeing a segmentation fault and crashing the brain.
Also changed how the function lift_range_finder worked.  Instead of just makeing a variable eqaul to a number it also returns the value
so we can use it outside of the function.
We also added actual values to all the arrays.

src/EZ-Template/rotation_mechanisms/lift_rotation.cpp

@@ -5,7 +5,13 @@ using namespace ez;
 
 ArmMech armObjRange;
 
-LiftMech::LiftMech() {}
+LiftMech::LiftMech() {
+    liftHeight = 0;
+    liftError = 0;
+    liftVelocity = 0;
+
+    liftStates = {0, 0, 0, 0};
+}
 LiftMech::LiftMech(std::initializer_list<int> _liftStates, int _numLiftStates) {
     liftStates = _liftStates;
     numLiftStates = _numLiftStates;
@@ -14,14 +20,14 @@ LiftMech::LiftMech(std::initializer_list<int> _liftStates, int _numLiftStates) {
     set_lift_kp(0.0173f);
 }
 
-void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed) {
+void LiftMech::lift_driver_control(ControllerR currController, ButtonsR buttonUsed) {
     switch (currController)
     {
-    case Controller::master:
+    case ControllerR::master:
 
         switch (buttonUsed)
         {
-        case Buttons::arrow_buttons:
+        case ButtonsR::arrow_buttons:
             if (master.get_digital(DIGITAL_RIGHT)) {
                 lift.move(127);
             }
@@ -29,7 +35,7 @@ void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed
                 lift.move(-127);
             }
             break;
-        case Buttons::Y_B_buttons:
+        case ButtonsR::Y_B_buttons:
             if (master.get_digital(DIGITAL_Y)) {
                 lift.move(127);
             }
@@ -37,7 +43,7 @@ void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed
                 lift.move(-127);
             }
             break;
-        case Buttons::left_shoulder_buttons:
+        case ButtonsR::left_shoulder_buttons:
             if (master.get_digital(DIGITAL_L1)) {
                 lift.move(127);
             }
@@ -45,7 +51,7 @@ void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed
                 lift.move(-127);
             }
             break;
-        case Buttons::right_shoulder_buttons:
+        case ButtonsR::right_shoulder_buttons:
             if (master.get_digital(DIGITAL_R1)) {
                 lift.move(127);
             }
@@ -57,11 +63,11 @@ void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed
             break;
         }
         break;
-    case Controller::slave:
+    case ControllerR::slave:
 
         switch (buttonUsed)
         {
-        case Buttons::arrow_buttons:
+        case ButtonsR::arrow_buttons:
             if (slave.get_digital(DIGITAL_RIGHT)) {
                 cycle_states();
             }
@@ -69,7 +75,7 @@ void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed
                 reset_state();
             }
             break;
-        case Buttons::Y_B_buttons:
+        case ButtonsR::Y_B_buttons:
             if (slave.get_digital(DIGITAL_Y)) {
                 cycle_states();
             }
@@ -77,7 +83,7 @@ void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed
                 reset_state();
             }
             break;
-        case Buttons::left_shoulder_buttons:
+        case ButtonsR::left_shoulder_buttons:
             if (slave.get_digital(DIGITAL_L1)) {
                 cycle_states();
             }
@@ -85,7 +91,7 @@ void LiftMech::lift_driver_control(Controller currController, Buttons buttonUsed
                 reset_state();
             }
             break;
-        case Buttons::right_shoulder_buttons:
+        case ButtonsR::right_shoulder_buttons:
             if (slave.get_digital(DIGITAL_R1)) {
                 cycle_states();
             }
@@ -126,15 +132,20 @@ void LiftMech::lift_auton_control(int pickState) {
 void LiftMech::cycle_states() {
     currLiftState ++;
 
-    if (currLiftState == numLiftStates) {
-        currLiftState = 0;
+    if (!liftStates.empty()) {
+        if (currLiftState == numLiftStates) {
+            currLiftState = 0;
+        }
+        liftTarget = liftStates[currLiftState];
     }
-    liftTarget = liftStates[currLiftState];
 }
 
 void LiftMech::reset_state() {
     currLiftState = 0;
-    liftTarget = liftStates[currLiftState];
+
+    if (!liftStates.empty()) {
+        liftTarget = liftStates[currLiftState];
+    }
 }
 
 void LiftMech::lift_control() {
@@ -143,20 +154,20 @@ void LiftMech::lift_control() {
     lift.move(liftVelocity);
 }
 
-void LiftMech::lift_range_finder() {
+int LiftMech::lift_range_finder() {
     liftHeight = liftRotation.get_position();
 
-    if (liftHeight >= firstRange[0] && liftHeight <= firstRange[1]) {
-        armObjRange.targetPos = 0;
+    if (firstRange.size() >= 2 && liftHeight >= firstRange[0] && liftHeight <= firstRange[1]) {
+        return armObjRange.targetPos = 0;
     }
-    else if (liftHeight >= secondRange[0] && liftHeight <= secondRange[1]) {
-        armObjRange.targetPos = 1;
+    else if (secondRange.size() >= 2 && liftHeight >= secondRange[0] && liftHeight <= secondRange[1]) {
+        return armObjRange.targetPos = 1;
     }
-    else if (liftHeight >= thirdRange[0] && liftHeight <= thirdRange[1]) {
-        armObjRange.targetPos = 2;
+    else if (thirdRange.size() >= 2 && liftHeight >= thirdRange[0] && liftHeight <= thirdRange[1]) {
+        return armObjRange.targetPos = 2;
     }
-    else if (liftHeight >= fourthRange[0] && liftHeight <= fourthRange[1]) {
-        armObjRange.targetPos = 3;
+    else if (fourthRange.size() >= 2 && liftHeight >= fourthRange[0] && liftHeight <= fourthRange[1]) {
+        return armObjRange.targetPos = 3;
     }
 }
 
@@ -171,6 +182,10 @@ void LiftMech::set_ranges(std::vector<int> _firstRange, std::vector<int> _second
     fourthRange = _fourthRange;
 }
 
-int LiftMech::get_lift_state() {return liftStates[currLiftState];}
+int LiftMech::get_lift_state() {
+    if (!liftStates.empty()) {
+        return liftStates[currLiftState];
+    }
+}
 int LiftMech::get_num_lift_states() {return numLiftStates;}
 float LiftMech::get_lift_kp() {return liftKP;}