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Merge branch 'master' into shooter 

# Conflicts:
#	Robot2016/src/Shooter.h
This commit is contained in:
dkbug 2016-02-20 15:32:14 -05:00
parent f8b90aaa73 4755bf7c46
commit 52ecff29e8
1 changed files with 18 additions and 11 deletions
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29
Robot2016/src/Shooter.h
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@ -64,14 +64,22 @@ public:
void LowerRamp() void LowerRamp()
{ {
if(ramp->GetReverseLimitOK()) ramp->Set(-1);
ramp->Set(-1); if(ramp->Limits::kReverseLimit){
SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
} else {
SmartDashboard::PutNumber("ramp", 1);
}
} }
void RaiseRamp() void RaiseRamp()
{ {
if(ramp->GetForwardLimitOK()) ramp->Set(1);
ramp->Set(1); if(ramp->Limits::kForwardLimit){
SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
} else {
SmartDashboard::PutNumber("ramp", 1);
}
} }
void StopRamp() void StopRamp()
@ -82,6 +90,11 @@ public:
void BoostRamp() void BoostRamp()
{ {
ramp->Set(1); ramp->Set(1);
if(ramp->Limits::kForwardLimit){
SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
} else {
SmartDashboard::PutNumber("ramp", 1);
}
} }
void Shoot() void Shoot()
@ -151,13 +164,6 @@ public:
{ {
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 * -1));
if (state)
{
ramp->Set(-1.0);
} else
{
ramp->Set(1);
}
//std::cout << "picking up!\n"; //std::cout << "picking up!\n";
} }
@ -190,6 +196,7 @@ private:
Timer shotClock; Timer shotClock;
bool ready; bool ready;
int fake_position;
}; };
#endif /* SRC_SHOOTER_H_ */ #endif /* SRC_SHOOTER_H_ */