purged the concept of a ramp

Robot2016/src/Robot.cpp

@@ -53,12 +53,12 @@ private:
 		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
 		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
 		SmartDashboard::PutData("Auto Modes", chooser);
-		ramp.Enable();
 		shooter1.Enable();
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
 		inverting = false;
+		shooter_power = 0;
 
 	}
 
@@ -74,9 +74,6 @@ private:
 	 */
 	void AutonomousInit()
 	{
-		shooter.CalibrateRamp();
-		shooter.SetRamp(Shoot);
-
 		autoSelected = *((std::string*)chooser->GetSelected());
 		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
 		std::cout << "Auto selected: " << autoSelected << std::endl;
@@ -99,9 +96,7 @@ private:
 
 	void TeleopInit()
 	{
-		shooter.CalibrateRamp();
+
-		shooter.SetRamp(Shoot); // start in the full up position!
-		power = 0;
 	}
 
 	void TeleopPeriodic()

Robot2016/src/Shooter.h

@@ -9,28 +9,11 @@
 #define SRC_SHOOTER_H_
 
 #define PICKUP_POWER 0.8
-#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 = (RAMP_LOWER_DURATION / 2),  // 1 rotation?
-	Down = RAMP_LOWER_DURATION,   // 2 rotations?
-	Uncalibrated = -1,
-	Transitioning = -2
-};
 
 class Shooter {
 public:
 	/**
-	 * Shooter talons and ramp talon.
+	 * Shooter talons and launch-spinny talon.
 	 * s2 is also for the pickup-mechanism and can be controlled independently.
 	 *
 	 */
@@ -38,25 +21,18 @@ public:
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
-		ramp = r;
+		launch_spinny = r;
-		rampState = Uncalibrated;
 	}
 
 	/**
 	 * Call this method on TeleopInit so that the ramp is properly
 	 * set at the beginning of the match.
 	 */
-	RampState CalibrateRamp() {
-		// TODO:
-		// Ramp no longer exists, replace with more wheels.
-
-		return Down;
-	}
 
 	virtual ~Shooter() {
 		delete launcher;
 		delete pickup;
-		delete ramp;
+		delete launch_spinny;
 	}
 
 	void PickUp(bool state = true) {
@@ -64,34 +40,6 @@ public:
 		std::cout << "picking up!\n";
 	}
 
-	void SetRamp(RampState state) {
-		// TODO:
-		// Move the Ramp to the set position.
-		switch (state)
-		{
-			case Shoot:
-			{
-				if (ramp->GetForwardLimitOK())
-				{
-					ramp->Set(1);
-				} else
-				{
-					ramp->Set(0);
-				}
-			}
-			case Half:
-			{
-				//yeah, put something here when you get the encoder working.
-				std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
-			}
-			case Down:
-			{
-				//see half.
-				std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
-			}
-		}
-	}
-
 	/**
 	 * Call this to run the pickup backwards if the ball gets jammed somehow...
 	 */
@@ -110,11 +58,7 @@ private:
 	RobotDrive *shooterDrive;
 	CANTalon *launcher;
 	CANTalon *pickup;
-	CANTalon *ramp;
+	CANTalon *launch_spinny;
-
-	RampState rampState;
-	RampState targetState;
-	RampState previousState;
 };
 
 #endif /* SRC_SHOOTER_H_ */