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Finished shooter switch.

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This commit is contained in:
Aidan Ferguson 2016-02-15 15:14:20 -05:00
parent 38eb49a964
commit 5bbbf1717e
1 changed files with 17 additions and 4 deletions
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21
Robot2016/src/Shooter.h
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@ -96,9 +96,9 @@ public:
case READY: case READY:
{ {
state = SPINNINGUP; state = SPINNINGUP;
launch_spinny->Set(-1); launch_spinny->Set(0);
launcher->Set(PICKUP_POWER); launcher->Set(LAUNCH_POWER);
pickup->Set(PICKUP_POWER); pickup->Set(LAUNCH_POWER);
shotClock.Reset(); shotClock.Reset();
shotClock.Start(); shotClock.Start();
break; break;
@ -118,7 +118,7 @@ public:
} }
case LAUNCH: case LAUNCH:
{ {
launch_spinny->Set(1); launch_spinny->Set(LAUNCH_POWER);
state = LAUNCHING; state = LAUNCHING;
break; break;
} }
@ -131,6 +131,19 @@ public:
} }
break; break;
} }
case RESETTING:
{
launch_spinny->Set(0);
launcher->Set(0);
pickup->Set(0);
state = READY;
break;
}
case ON_FIRE:
{
std::cout << "Something is wrong with the launch sequence.\n";
break;
}
} }
} }