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Added an 'unjam' method to the shooter

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This commit is contained in:
Jason 2016-02-07 22:37:10 -05:00
parent 81c3876537
commit 62a93449cb
1 changed files with 9 additions and 1 deletions
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10
DriveBase/src/Shooter.h
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@ -45,7 +45,7 @@ public:
} }
void PickUp(bool state = true) { void PickUp(bool state = true) {
pickup->Set((float) (state * PICKUP_POWER), false); pickup->Set((float) (state * PICKUP_POWER));
} }
void SetRamp(RampState state) { void SetRamp(RampState state) {
@ -53,6 +53,14 @@ public:
// Move the Ramp to the set position. // 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) { void SetPower(float power) {
shooterDrive->TankDrive(power, -power, false); shooterDrive->TankDrive(power, -power, false);
} }