From a51cdfcb079bd78789cd7b53705638adcc0bc0e1 Mon Sep 17 00:00:00 2001
From: Jason <jason@dublinschool.org>
Date: Thu, 11 Feb 2016 20:40:41 -0500
Subject: [PATCH] Added comments about the use of the boolean variables in the
 TeleopPeriodic method

---
 Robot2016/src/Robot.cpp | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index 3111ca2..8e4b800 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -118,6 +118,13 @@ private:
 			launch_spinny.Set(0);
 		}
 
+		/*
+		 * 	Run the Shooter only while the THUMB button is held down on the operator stick.
+		 *	the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp
+		 *	every itteration of the TeleopPeriodic method (once every 10ms!)
+		 *	The pickup is disabled when the thumb button is released, but the code still
+		 *  has 'pickupRunning' as true.
+		 */
 		if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
 		{
 			shooter.PickUp();
@@ -129,6 +136,12 @@ private:
 			pickupRunning = false;
 		}
 
+		/*
+		 *	The 'inverting' variable is used to make sure that the drive train isn't getting
+		 *	inverted every itteration of the TeleopPeriodic method while the button is held down.
+		 *	This is important because the TeleopPeriodic method executes something like once every 10ms.
+		 *	Thus, this if-else if pair make the button a toggle.
+		 */
 		if(driver_stick.GetRawButton(THUMB) && !inverting)
 		{
 			left_drive.SetInverted(!left_drive.GetInverted());
@@ -140,7 +153,10 @@ private:
 			inverting = false;
 		}
 
-		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > shooter_power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < shooter_power -0.005)
+		
+		
+		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > shooter_power + 0.005
+				||	((1.0 - operator_stick.GetThrottle()) / 2.0) < shooter_power -0.005)
 		{
 			shooter_power = (1.0 - operator_stick.GetThrottle()) / 2.0;
 			shooter.SetPower(shooter_power);