From 1f09e12f2d567365c74c8ef5845d984397926749 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Mon, 15 Feb 2016 20:54:20 -0500
Subject: [PATCH] tweaks - untested

---
 Robot2016/src/Robot.cpp |  8 ++++++--
 Robot2016/src/Shooter.h | 19 +++++++++++--------
 2 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index 1af8deb..b12359c 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -163,7 +163,7 @@ private:
 		/*
 		 * 	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
-		 *	every itteration of the TeleopPeriodic method (once every 10ms!)
+		 *	every iteration of the TeleopPeriodic method (once every 10ms!)
 		 *	The pickup is disabled when the thumb button is released, but the code still
 		 *  has 'pickupRunning' as true.
 		 */
@@ -177,10 +177,14 @@ private:
 			shooter.PickUp(false);
 			pickupRunning = false;
 		}
+		else if(launch_spinny.Get() != 1)
+		{
+			launch_spinny.Set(1);
+		}
 
 		/*
 		 *	The 'inverting' variable is used to make sure that the drive train isn't getting
-		 *	inverted every itteration of the TeleopPeriodic method while the button is held down.
+		 *	inverted every iteration of the TeleopPeriodic method while the button is held down.
 		 *	This is important because the TeleopPeriodic method executes something like once every 10ms.
 		 *	Thus, this if-else if pair make the button a toggle.
 		 */
diff --git a/Robot2016/src/Shooter.h b/Robot2016/src/Shooter.h
index c8980f5..9c8af1e 100644
--- a/Robot2016/src/Shooter.h
+++ b/Robot2016/src/Shooter.h
@@ -84,13 +84,10 @@ public:
 	
 	void Shoot()
 	{
-	// TODO: Shooter Logic should go as follows:
-	
-	/*
-		Assuming a ball is held in the shooter.  When the trigger is pulled,
-		the launch-spinny should be STOPPED.  Start a Timer object counting
-		When... too hard to write.. I emailed you a flow chart.
-	 */
+		if (shotClock.Get() > (SPINUP_TIME + 0.1))
+		{
+			state = RESETTING;
+		}
 		switch (state)
 		{
 			case READY:
@@ -152,7 +149,13 @@ public:
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
 		launcher->Set((float) (state * PICKUP_POWER * -1));
-		//launch_spinny->Set(-1.0*PICKUP_POWER);
+		if (state)
+		{
+			launch_spinny->Set(-1.0);
+		} else
+		{
+			launch_spinny->Set(1);
+		}
 		//std::cout << "picking up!\n";
 	}