Talon SRX in Position Mode Won't keep zero

[ProgrammerMatt]

its really messy at the moment, just have been trying lots of things sorry.

package org.usfirst.frc.team2282.robot;


import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CANTalon.FeedbackDevice;
import edu.wpi.first.wpilibj.CANTalon.TalonControlMode;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 * This is a demo program showing the use of the RobotDrive class.
 * The SampleRobot class is the base of a robot application that will automatically call your
 * Autonomous and OperatorControl methods at the right time as controlled by the switches on
 * the driver station or the field controls.
 *
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the SampleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 *
 * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
 * don't. Unless you know what you are doing, complex code will be much more difficult under
 * this system. Use IterativeRobot or Command-Based instead if you're new.
 */
public class Robot extends SampleRobot {
    RobotDrive myRobot;
    Joystick gamepad,coDriver;
    DriverStation DS;
    
    Victor L1,L2,L3,R1,R2,R3,intake, shooter;
    CANTalon awesomeBar, shooterFlap;
    CameraServer cam;
    
    double leftValue, rightValue;
    boolean Arcade;
    
    final String defaultAuto = "Default";
    final String customAuto = "My Auto";
    SendableChooser chooser;
    
    int loopCount;

    public Robot() {
        gamepad = new Joystick(0);
        coDriver = new Joystick(1);
        L1 = new Victor(0);
        L2 = new Victor(1);
        L3 = new Victor(2);
        R1 = new Victor(3);
        R2 = new Victor(4);
        R3 = new Victor(5);
        shooter = new Victor(7);
        awesomeBar = new CANTalon(2);
        
        //awesomeBar.configMaxOutputVoltage(12.0);
        
        
        shooterFlap = new CANTalon(1);
        shooterFlap.setFeedbackDevice(FeedbackDevice.PulseWidth);
        shooterFlap.setInverted(true);
        
        shooterFlap.reverseSensor(true);
        awesomeBar.setFeedbackDevice(FeedbackDevice.PulseWidth);
        awesomeBar.setInverted(false);
        awesomeBar.reverseSensor(true);
        
        intake = new Victor(6);
   //     cam = CameraServer.getInstance();
    //    cam.startAutomaticCapture("cam0");
        
        DS = DriverStation.getInstance();
    }
    
    public void robotInit() {
        chooser = new SendableChooser();
        chooser.addDefault("Default Auto", defaultAuto);
        chooser.addObject("My Auto", customAuto);
        SmartDashboard.putData("Auto modes", chooser);
        SmartDashboard.putBoolean("Arcade", true);
                
    }

	/**
	 * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
	 * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
	 * Dashboard, remove all of the chooser code and uncomment the getString line to get the auto name from the text box
	 * below the Gyro
	 *
	 * You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
	 * If using the SendableChooser make sure to add them to the chooser code above as well.
	 */
    public void autonomous() {
    	while(isAutonomous() && isEnabled()){
    	
    	}
    	
    }

    /**
     * Runs the motors with arcade steering.
     */
    public void operatorControl() {
    	//Calibrate Shooter Flap
    	shooterFlap.changeControlMode(TalonControlMode.PercentVbus);
    	while(!shooterFlap.isFwdLimitSwitchClosed()){
    		shooterFlap.set(-0.2);
    	}
    	shooterFlap.set(0.0);
    	shooterFlap.changeControlMode(TalonControlMode.Position);
    	Timer.delay(0.02);
    	shooterFlap.setPosition(0);
    	//Calibrate Awesome Bar
    	awesomeBar.changeControlMode(TalonControlMode.PercentVbus);
    	while(!awesomeBar.isRevLimitSwitchClosed()){
    		awesomeBar.set(-0.2);
    	}
    	awesomeBar.set(0.0);
    	awesomeBar.changeControlMode(TalonControlMode.Position);
    	Timer.delay(0.02);
    	awesomeBar.setPosition(0.0);


    	
        while (isOperatorControl() && isEnabled()) {
        	
        	shooterFlap.enable();
            Arcade = SmartDashboard.getBoolean("Arcade");
        	if(Arcade) {
        		
        		leftValue = (gamepad.getY() + -gamepad.getRawAxis(4));
        		rightValue = -(gamepad.getY() - -gamepad.getRawAxis(4));
        	}
        	else {
        		leftValue = gamepad.getY();
        		rightValue = -gamepad.getRawAxis(5);
        	}
        	
        	SmartDashboard.putNumber("Arm Position", awesomeBar.getPosition());
        	L1.set(leftValue);
        	L2.set(leftValue);
        	L3.set(leftValue);
        	
        	R1.set(rightValue);
        	R2.set(rightValue);
        	R3.set(rightValue);
        	
        	
        	awesomeBar.changeControlMode(TalonControlMode.Position);
        	SmartDashboard.putNumber("Pulse witdth pos", awesomeBar.getPulseWidthPosition());
        	awesomeBar.enable();
        	
        	
        	
        	intake.set(coDriver.getY());
        	
        	if(coDriver.getRawButton(1)){
        		shooter.set(1.0);
        		
        			shooterFlap.set(-1.2);
        			loopCount = 0;
        		
        	}
        	else if(coDriver.getRawButton(4)){
        		shooter.set(-1.0);
        	}
        	else{
        		shooter.set(0);
        		if(loopCount >= 300) {
        			//shooterFlap.set(0.0);
        		}
        	}
        	SmartDashboard.putNumber("flap pos", shooterFlap.getPosition());
        	SmartDashboard.putNumber("output voltage", shooterFlap.getOutputVoltage());
        	SmartDashboard.putString("cont mode", shooterFlap.getControlMode().name());
        	SmartDashboard.putNumber("Awesome Bar POS", awesomeBar.getPosition());
        	
        	awesomeBar.enable();
        	
               
               if(gamepad.getRawButton(6)){
        		awesomeBar.set(0.98);
        	}
        	else if (gamepad.getRawButton(5)){
        	awesomeBar.set(0.0);
        	}
        	else if (gamepad.getRawButton(2)){
        		awesomeBar.set(3.7);
        	}
        	else{
        	}
        	
        	Timer.delay(0.01);
        	loopCount++;
        	
        	//1.194 good shot position
        	
        	
       
        	/*
        	awesomeBar.changeControlMode(TalonControlMode.PercentVbus);
        	shooterFlap.changeControlMode(TalonControlMode.PercentVbus);
        	
        	
        	if(gamepad.getRawButton(5)){
        		awesomeBar.set(1.0);
        		
        	}
        	else if(gamepad.getRawButton(6)){
        		awesomeBar.set(-1.0);
        		
        	}
        	else {
        		awesomeBar.set(0.0);
        	}
        	
        	shooterFlap.set(-coDriver.getRawAxis(5));
                */
        	
        	
        }
    }

    /**
     * Runs during test mode
     */
    public void test() {
    	while(isTest() && isEnabled()){
    	
    	}
    }
}