adam/FRC2016-old
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Added some more sane code that has no effect because it only calls empty methods.

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This commit is contained in:
Jason Cox 2016-02-09 17:27:58 -05:00
parent 48b4e2292d
commit 9ceafdec80
2 changed files with 8 additions and 3 deletions
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2
Robot2016/src/Robot.cpp
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@ -68,6 +68,7 @@ private:
void AutonomousInit() void AutonomousInit()
{ {
shooter.CalibrateRamp(); shooter.CalibrateRamp();
shooter.SetRamp(Shoot);
autoSelected = *((std::string*)chooser->GetSelected()); autoSelected = *((std::string*)chooser->GetSelected());
//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault); //std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
@ -92,6 +93,7 @@ private:
void TeleopInit() void TeleopInit()
{ {
shooter.CalibrateRamp(); shooter.CalibrateRamp();
shooter.SetRamp(Shoot); // start in the full up position!
} }
void TeleopPeriodic() void TeleopPeriodic()

9
Robot2016/src/Shooter.h
View File

@ -21,9 +21,10 @@
*/ */
enum RampState { enum RampState {
Shoot = 0, // 0 rotations Shoot = 0, // 0 rotations
Half = 1, // 1 rotation? Half = (RAMP_LOWER_DURATION / 2), // 1 rotation?
Down = 2, // 2 rotations? Down = RAMP_LOWER_DURATION, // 2 rotations?
Uncalibrated = -1 Uncalibrated = -1,
Transitioning = -2
}; };
class Shooter { class Shooter {
@ -85,6 +86,8 @@ private:
CANTalon *ramp; CANTalon *ramp;
RampState rampState; RampState rampState;
RampState targetState;
RampState previousState;
}; };
#endif /* SRC_SHOOTER_H_ */ #endif /* SRC_SHOOTER_H_ */