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Tweaking pickup

This commit is contained in:
Jason Cox 2016-02-20 18:15:28 -05:00
parent ae402ff1ce
commit 1e9af3ce6d
2 changed files with 13 additions and 5 deletions
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9
Robot2016/src/Robot.cpp
View File

@ -155,13 +155,16 @@ private:
unjamming = true; unjamming = true;
shooter.Unjam(); shooter.Unjam();
} }
else if(unjamming && !operator_stick.GetRawButton(UNJAM)) else if(!unjamming && operator_stick.GetRawButton(TRIGGER))
{
shooter.ShootLow();
unjamming = true;
}
else if(unjamming && !operator_stick.GetRawButton(UNJAM) && !operator_stick.GetRawButton(TRIGGER))
{ {
shooter.PickUp(false); shooter.PickUp(false);
unjamming = false; unjamming = false;
} }
/* /*
* Run the Shooter only while the THUMB button is held down on the operator stick. * Run the Shooter only while the THUMB button is held down on the operator stick.
* the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp * the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp

9
Robot2016/src/Shooter.h
View File

@ -8,7 +8,7 @@
#ifndef SRC_SHOOTER_H_ #ifndef SRC_SHOOTER_H_
#define SRC_SHOOTER_H_ #define SRC_SHOOTER_H_
#define PICKUP_POWER 0.5 #define PICKUP_POWER 0.75
#define LAUNCH_POWER 1 #define LAUNCH_POWER 1
#define SPINUP_TIME 1.5 // seconds. #define SPINUP_TIME 1.5 // seconds.
#define LAUNCH_TIME 0.5 #define LAUNCH_TIME 0.5
@ -155,7 +155,7 @@ public:
void PickUp(bool state = true) void PickUp(bool state = true)
{ {
pickup->Set((float) (state * PICKUP_POWER)); pickup->Set((float) (state * PICKUP_POWER));
launcher->Set((float) (state * PICKUP_POWER * -1)); launcher->Set((float) (state * PICKUP_POWER * -0.75));
//ramp->Set(-1.0*PICKUP_POWER); //ramp->Set(-1.0*PICKUP_POWER);
//std::cout << "picking up!\n"; //std::cout << "picking up!\n";
} }
@ -168,6 +168,11 @@ public:
pickup->Set(-1 * PICKUP_POWER); pickup->Set(-1 * PICKUP_POWER);
} }
void ShootLow()
{
pickup->Set(-1);
}
void SetPower(float power) void SetPower(float power)
{ {
pickup->Set(power); pickup->Set(power);