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Fixed a bunch of logic errors.

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This commit is contained in:
Jason Cox 2016-02-12 21:17:45 -05:00
parent deef7fcf20
commit 99d2397f9b
2 changed files with 6 additions and 6 deletions
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7
Robot2016/src/Robot.cpp
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@ -61,6 +61,7 @@ private:
shooter2.Enable(); shooter2.Enable();
left_drive.SetInverted(true); left_drive.SetInverted(true);
right_drive.SetInverted(true); right_drive.SetInverted(true);
launch_spinny.SetInverted(true);
inverting = false; inverting = false;
pickupRunning = false; pickupRunning = false;
shooter_power = 0; shooter_power = 0;
@ -143,7 +144,7 @@ private:
shooter.PickUp(); shooter.PickUp();
pickupRunning = true; pickupRunning = true;
} }
else if(pickupRunning) else if(!operator_stick.GetRawButton(THUMB) && pickupRunning)
{ {
shooter.PickUp(false); shooter.PickUp(false);
pickupRunning = false; pickupRunning = false;
@ -185,8 +186,8 @@ private:
// This code will become obsolete after the Shooter logic is complete. // This code will become obsolete after the Shooter logic is complete.
float opThrottle = SaneThrottle(operator_stick.GetThrottle()); float opThrottle = SaneThrottle(operator_stick.GetThrottle());
if( opThrottle > shooter_power + DEADZONE_RADIUS if(!pickupRunning && ( opThrottle > shooter_power + DEADZONE_RADIUS
|| opThrottle < shooter_power - DEADZONE_RADIUS) || opThrottle < shooter_power - DEADZONE_RADIUS))
{ {
shooter.SetPower(opThrottle); shooter.SetPower(opThrottle);
} }

5
Robot2016/src/Shooter.h
View File

@ -27,7 +27,6 @@ public:
pickup = s2; pickup = s2;
launch_spinny = r; launch_spinny = r;
ready = true; ready = true;
shotClock = Timer();
} }
/** /**
@ -52,12 +51,12 @@ public:
void LowerRamp() void LowerRamp()
{ {
launch_spinny->Set(-0.1); launch_spinny->Set(-0.25);
} }
void RaiseRamp() void RaiseRamp()
{ {
launch_spinny->Set(0.1); launch_spinny->Set(0.25);
} }
void BoostRamp() void BoostRamp()