Merged master into logging, fixed conflicts. The logging's still terribad.

DriveBase/src/Robot.cpp

@@ -14,14 +14,33 @@
  * This sample shows how to use the new CANTalon to just run a motor in a basic
  *   throttle mode, in the same manner as you might control a traditional PWM
  *   controlled motor.
- *
  */
+<<<<<<< HEAD
 class Robot: public IterativeRobot
 {
 private:
 	CANTalon r1_drive, r2_drive,
 			l1_drive, l2_drive,
 			shooter1, shooter2;
+=======
+
+#ifndef BUTTON_LAYOUT
+#define BUTTON_LAYOUT
+
+#define TRIGGER 0
+#define THUMB 1
+
+#endif
+
+class Robot: public IterativeRobot {
+	CANTalon r1_drive;
+	CANTalon r2_drive;
+	CANTalon l1_drive;
+	CANTalon l2_drive;
+	CANTalon shooter1;
+	CANTalon shooter2;
+	CANTalon ramp;
+>>>>>>> master
 	TankDrive drive;
 	Shooter shooter;
 	Joystick rstick, lstick;
@@ -44,10 +63,11 @@ public:
 			l2_drive(4), 	// left wheel 2
 			shooter1(10),  	// shooter drive 1
 			shooter2(11),   // shooter drive 2
+			ramp(12),
 			drive(			// initialize TankDrive object.
 					&l1_drive, &l2_drive, &r1_drive, &r2_drive),
 			shooter(		// initialize Shooter object.
-					&shooter1, &shooter2),
+					&shooter1, &shooter2, &ramp),
 			rstick(0), 		// right stick (operator)
 			lstick(1)		// left stick (driver)
 	{
@@ -75,10 +95,26 @@ public:
 		drive.Drive(&lstick);
 
 		float power = (1.0 - rstick.GetThrottle()) / 2.0;
-		//shooter1.Set(power);
-		//shooter2.Set(power);
-		shooter.SetPower(power);
 
+		//shooter.SetPower(power);
+		if(rstick.GetRawButton(TRIGGER))
+		{
+			// SHOOT THE BALL
+			ramp.Set(-0.5);
+		}
+
+		if(rstick.GetRawButton(THUMB))
+		{
+			// lower the ramp
+			ramp.Set(0.5);
+		}
+		else
+		{
+			// raise the ramp to HALF (so it isn't down all the time!)
+			ramp.Set(0);
+		}
+
+		// How to pickup?
 	}
 
 };

DriveBase/src/Shooter.h

@@ -8,22 +8,83 @@
 #ifndef SRC_SHOOTER_H_
 #define SRC_SHOOTER_H_
 
+#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?
+	Uncalibrated = -1
+};
+
 class Shooter {
 public:
-	Shooter(CANTalon *s1, CANTalon *s2) {
+	/**
+	 * 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;
 	}
 
-	virtual ~Shooter()
-	{
+	/**
+	 * 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,
+		// then lower the ramp to its lower limit.
+
+		return Down;
+	}
+
+	virtual ~Shooter() {
 		delete shooterDrive;
+		delete pickup;
+		delete ramp;
+	}
+
+	void PickUp(bool state = true) {
+		pickup->Set((float) (state * PICKUP_POWER));
+	}
+
+	void SetRamp(RampState state) {
+		// TODO:
+		// Move the Ramp to the set position.
+	}
+
+	/**
+	 * Call this to run the pickup backwards if the ball gets jammed somehow...
+	 */
+	void Unjam()
+	{
+		pickup->Set(-1 * PICKUP_POWER);
 	}
 
 	void SetPower(float power) {
 		shooterDrive->TankDrive(power, -power, false);
 	}
 private:
+
 	RobotDrive *shooterDrive;
+	CANTalon *pickup;
+	CANTalon *ramp;
+
+	RampState rampState;
 };
 
 #endif /* SRC_SHOOTER_H_ */

DriveBase/src/TankDrive.h

@@ -51,7 +51,8 @@ public:
 		}
 
 		float speed = y * th;
-		float rot = -x * th;  // do some math here to smooth out turning?
+		// TODO: do some math here to smooth out turning?
+		float rot = x * th;
 
 		dt1->ArcadeDrive(speed, rot, false);
 		dt2->ArcadeDrive(speed, rot, false);