Merge branch 'arms'

# Conflicts:
#	Robot2016/src/Robot.cpp
#	Robot2016/src/Shooter.h

Robot2016/src/Robot.cpp

@@ -21,7 +21,8 @@ class Robot: public IterativeRobot
 {
 	TalonSRX left_drive, right_drive;
 	CANTalon shooter1, shooter2,
-			launch_spinny;
+			ramp,
+			arms;
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
@@ -31,10 +32,11 @@ public:
 		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
 		shooter1(11),  			// shooter drive 1
 		shooter2(10),   		// shooter drive 2
-		launch_spinny(12),
+		ramp(12),
+		arms(13),
 		drive(&left_drive, &right_drive),
 		shooter(				// initialize Shooter object.
-				&shooter1, &shooter2, &launch_spinny),
+				&shooter1, &shooter2, &ramp),
 		driver_stick(0), 				// right stick (operator)
 		operator_stick(1)			// left stick (driver)
 	{
@@ -48,6 +50,7 @@ private:
 	bool ramping;
 	bool shooting;
 	bool unjamming;
+	bool arming;
 	float shooter_power;
 
 	LiveWindow *lw = LiveWindow::GetInstance();
@@ -66,12 +69,13 @@ private:
 		shooter2.Enable();
 		//left_drive.SetInverted(true);
 		//right_drive.SetInverted(true);
-		//launch_spinny.SetInverted(true);
+		//ramp.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
 		ramping = false;
 		shooting = false;
 		unjamming = false;
+		arming = false;
 		shooter_power = 0;
 
 	}
@@ -111,21 +115,23 @@ private:
 
 	void TeleopPeriodic()
 	{
-		//std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
+		std::cout << "arm encoder position: " << arms.GetEncPosition() << std::endl;
-		drive.ArcadeDrive(-driver_stick.GetY(), -driver_stick.GetX() * 0.75);
+		std::cout << "arm encoder velocity: " << arms.GetEncVel() << std::endl;
+		drive.ArcadeDrive(&driver_stick, true);
+
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
 		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			std::cout << "Raising Ramp.";
-			//launch_spinny.Set(1);
+			//ramp.Set(1);
 			shooter.RaiseRamp();
 			ramping =true;
 		}
 		else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			std::cout << "Lowering Ramp.";
-			//launch_spinny.Set(-1);
+			//ramp.Set(-1);
 			shooter.LowerRamp();
 			ramping = true;
 		}
@@ -159,7 +165,7 @@ 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.
 		 */
@@ -176,7 +182,7 @@ private:
 
 		/*
 		 *	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.
 		 */
@@ -210,6 +216,22 @@ private:
 			shooter.StopShooter();
 		}
 		
+		if(!arming && driver_stick.GetRawButton(RAMP_RAISE))
+		{
+			arming = true;
+			arms.Set(1);
+		}
+		else if(!arming && driver_stick.GetRawButton(RAMP_LOWER))
+		{
+			arming = true;
+			arms.Set(-1);
+		}
+		else if(arming && !driver_stick.GetRawButton(RAMP_RAISE) && !driver_stick.GetRawButton(RAMP_LOWER))
+		{
+			arming = false;
+			arms.Set(0);
+		}
+
         // This code will become obsolete after the Shooter logic is complete.
 		float opThrottle = SaneThrottle(operator_stick.GetThrottle());
 		

Robot2016/src/Shooter.h

@@ -37,7 +37,7 @@ public:
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
-		launch_spinny = r;
+		ramp = r;
 		ready = true;
 		state = READY;
 	}
@@ -51,19 +51,20 @@ public:
 	{
 		delete launcher;
 		delete pickup;
-		delete launch_spinny;
+		delete ramp;
 	}
 	
 	void StopShooter()
 	{
 		ready = true;
-		launch_spinny->Set(0);
+		ramp->Set(0);
 		launcher->Set(0);
 		pickup->Set(0);
 	}
 
 	void LowerRamp()
 	{
+<<<<<<< HEAD
 		launch_spinny->Set(-0.5);
 		if(launch_spinny->Limits::kReverseLimit){
 			SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
@@ -71,22 +72,30 @@ public:
 			SmartDashboard::PutNumber("ramp", 1);
 		}
 
+=======
+		ramp->Set(-.5);
+>>>>>>> arms
 	}
 
 	void RaiseRamp()
 	{
+<<<<<<< HEAD
 		launch_spinny->Set(0.5);
 		if(launch_spinny->Limits::kForwardLimit){
 			SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
 		} else {
 			SmartDashboard::PutNumber("ramp", 1);
 		}
+=======
+		ramp->Set(0.5);
+>>>>>>> arms
 	}
 
 	void StopRamp()
 	{
-		launch_spinny->Set(0);
+		ramp->Set(0);
 	}
+<<<<<<< HEAD
 
 	void BoostRamp()
 	{
@@ -98,6 +107,8 @@ public:
 		}
 	}
 	
+=======
+>>>>>>> arms
 	void Shoot()
 	{
 	// TODO: Shooter Logic should go as follows:
@@ -112,9 +123,15 @@ public:
 			case READY:
 			{
 				state = SPINNINGUP;
+<<<<<<< HEAD
 				launch_spinny->Set(-1);
 				launcher->Set(LAUNCH_POWER);
 				pickup->Set(LAUNCH_POWER);
+=======
+				ramp->Set(-1);
+				launcher->Set(PICKUP_POWER);
+				pickup->Set(PICKUP_POWER);
+>>>>>>> arms
 				shotClock.Reset();
 				shotClock.Start();
 				break;
@@ -134,7 +151,11 @@ public:
 			}
 			case LAUNCH:
 			{
+<<<<<<< HEAD
 				launch_spinny->Set(LAUNCH_POWER);
+=======
+				ramp->Set(1);
+>>>>>>> arms
 				state = LAUNCHING;
 				break;
 			}
@@ -168,7 +189,7 @@ public:
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
 		launcher->Set((float) (state * PICKUP_POWER * -1));
-		//launch_spinny->Set(-1.0*PICKUP_POWER);
+		//ramp->Set(-1.0*PICKUP_POWER);
 		//std::cout << "picking up!\n";
 	}
 
@@ -191,7 +212,7 @@ private:
 	//RobotDrive *shooterDrive;
 	CANTalon *launcher;
 	CANTalon *pickup;
-	CANTalon *launch_spinny;
+	CANTalon *ramp;
 	ShooterState state;
 	
 	Timer shotClock;