From 99d2397f9b5b441f3de9dc20b6fd5857fcff1534 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Fri, 12 Feb 2016 21:17:45 -0500
Subject: [PATCH] Fixed a bunch of logic errors.

---
 Robot2016/src/Robot.cpp | 7 ++++---
 Robot2016/src/Shooter.h | 5 ++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index 8826677..6ec1e54 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -61,6 +61,7 @@ private:
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
+		launch_spinny.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
 		shooter_power = 0;
@@ -143,7 +144,7 @@ private:
 			shooter.PickUp();
 			pickupRunning = true;
 		}
-		else if(pickupRunning)
+		else if(!operator_stick.GetRawButton(THUMB) && pickupRunning)
 		{
 			shooter.PickUp(false);
 			pickupRunning = false;
@@ -185,8 +186,8 @@ private:
         // This code will become obsolete after the Shooter logic is complete.
 		float opThrottle = SaneThrottle(operator_stick.GetThrottle());
 		
-		if( opThrottle > shooter_power + DEADZONE_RADIUS
-				||	opThrottle < shooter_power - DEADZONE_RADIUS)
+		if(!pickupRunning && ( opThrottle > shooter_power + DEADZONE_RADIUS
+				||	opThrottle < shooter_power - DEADZONE_RADIUS))
 		{
 			shooter.SetPower(opThrottle);
 		}
diff --git a/Robot2016/src/Shooter.h b/Robot2016/src/Shooter.h
index b273940..7b4705d 100644
--- a/Robot2016/src/Shooter.h
+++ b/Robot2016/src/Shooter.h
@@ -27,7 +27,6 @@ public:
 		pickup = s2;
 		launch_spinny = r;
 		ready = true;
-		shotClock = Timer();
 	}
 
 	/**
@@ -52,12 +51,12 @@ public:
 
 	void LowerRamp()
 	{
-		launch_spinny->Set(-0.1);
+		launch_spinny->Set(-0.25);
 	}
 
 	void RaiseRamp()
 	{
-		launch_spinny->Set(0.1);
+		launch_spinny->Set(0.25);
 	}
 
 	void BoostRamp()