Added some more comments.

DriveBase/src/Shooter.h

@@ -11,10 +11,18 @@
 #define PICKUP_POWER 0.5
 #define RAMP_LOWER_DURATION 2 //Rotations.
 
+
+/**
+ * You can use the values assigned to each of these values as the number
+ * of rotations to run the motor down from the "Shoot" position.
+ *
+ * This might not be the best way to do it, and also requires that we
+ * figure out how to read the Hall Effect signal from the motor.
+ */
 enum RampState {
 	Shoot = 0, // 0 rotations
-	Half = 1,  // 1 rotation
-	Down = 2,   // 2 rotations
+	Half = 1,  // 1 rotation?
+	Down = 2,   // 2 rotations?
 	Uncalibrated = -1
 };
 
@@ -32,6 +40,10 @@ public:
 		rampState = Uncalibrated;
 	}
 
+	/**
+	 * Call this method on TeleopInit so that the ramp is properly
+	 * set at the beginning of the match.
+	 */
 	RampState CalibrateRamp() {
 		// TODO:
 		// Raise ramp until limit switch is triggered,
@@ -42,6 +54,8 @@ public:
 
 	virtual ~Shooter() {
 		delete shooterDrive;
+		delete pickup;
+		delete ramp;
 	}
 
 	void PickUp(bool state = true) {