/*
* Shooter.h
*
* Created on: Feb 2, 2016
* Author: Jason
*/
#ifndef SRC_SHOOTER_H_
#define SRC_SHOOTER_H_
#define PICKUP_POWER 0.5
#define RAMP_LOWER_DURATION 2 //Rotations.
enum RampState {
Shoot = 0, // 0 rotations
Half = 1, // 1 rotation
Down = 2, // 2 rotations
Uncalibrated = -1
};
class Shooter {
public:
/**
* Shooter talons and ramp talon.
* s2 is also for the pickup-mechanism and can be controlled independently.
Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
shooterDrive = new RobotDrive(s1, s2);
pickup = s2;
ramp = r;
rampState = Uncalibrated;
}
RampState CalibrateRamp() {
// TODO:
// Raise ramp until limit switch is triggered,
// then lower the ramp to its lower limit.
return Down;
virtual ~Shooter() {
delete shooterDrive;
void PickUp(bool state = true) {
pickup->Set((float) (state * PICKUP_POWER), false);
void SetRamp(RampState state) {
// Move the Ramp to the set position.
void SetPower(float power) {
shooterDrive->TankDrive(power, -power, false);
private:
RobotDrive *shooterDrive;
CANTalon *pickup;
CANTalon *ramp;
RampState rampState;
#endif /* SRC_SHOOTER_H_ */