-launch_spinny

+ramp

Robot2016/src/Robot.cpp

@@ -20,7 +20,7 @@ class Robot: public IterativeRobot
 {
 	Talon left_drive, right_drive;
 	CANTalon shooter1, shooter2,
-			launch_spinny,
+			ramp,
 			arms;
 	RobotDrive drive;
 	Shooter shooter;
@@ -31,11 +31,11 @@ public:
 		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
 		shooter1(11),  			// shooter drive 1
 		shooter2(10),   		// shooter drive 2
-		launch_spinny(12),
+		ramp(12),
 		arms(13),
 		drive(&left_drive, &right_drive),
 		shooter(				// initialize Shooter object.
-				&shooter1, &shooter2, &launch_spinny),
+				&shooter1, &shooter2, &ramp),
 		driver_stick(0), 				// right stick (operator)
 		operator_stick(1)			// left stick (driver)
 	{
@@ -68,7 +68,7 @@ private:
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
-		//launch_spinny.SetInverted(true);
+		//ramp.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
 		ramping = false;
@@ -127,14 +127,14 @@ private:
 		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			std::cout << "Raising Ramp.";
-			//launch_spinny.Set(1);
+			//ramp.Set(1);
 			shooter.RaiseRamp();
 			ramping =true;
 		}
 		else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			std::cout << "Lowering Ramp.";
-			//launch_spinny.Set(-1);
+			//ramp.Set(-1);
 			shooter.LowerRamp();
 			ramping = true;
 		}

Robot2016/src/Shooter.h

@@ -37,7 +37,7 @@ public:
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
-		launch_spinny = r;
+		ramp = r;
 		ready = true;
 		state = READY;
 	}
@@ -51,35 +51,35 @@ public:
 	{
 		delete launcher;
 		delete pickup;
-		delete launch_spinny;
+		delete ramp;
 	}
 	
 	void StopShooter()
 	{
 		ready = true;
-		launch_spinny->Set(0);
+		ramp->Set(0);
 		launcher->Set(0);
 		pickup->Set(0);
 	}
 
 	void LowerRamp()
 	{
-		launch_spinny->Set(-1);
+		ramp->Set(-1);
 	}
 
 	void RaiseRamp()
 	{
-		launch_spinny->Set(1);
+		ramp->Set(1);
 	}
 
 	void StopRamp()
 	{
-		launch_spinny->Set(0);
+		ramp->Set(0);
 	}
 
 	void BoostRamp()
 	{
-		launch_spinny->Set(1);
+		ramp->Set(1);
 	}
 	
 	void Shoot()
@@ -96,7 +96,7 @@ public:
 			case READY:
 			{
 				state = SPINNINGUP;
-				launch_spinny->Set(-1);
+				ramp->Set(-1);
 				launcher->Set(PICKUP_POWER);
 				pickup->Set(PICKUP_POWER);
 				shotClock.Reset();
@@ -118,7 +118,7 @@ public:
 			}
 			case LAUNCH:
 			{
-				launch_spinny->Set(1);
+				ramp->Set(1);
 				state = LAUNCHING;
 				break;
 			}
@@ -139,7 +139,7 @@ public:
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
 		launcher->Set((float) (state * PICKUP_POWER * -1));
-		//launch_spinny->Set(-1.0*PICKUP_POWER);
+		//ramp->Set(-1.0*PICKUP_POWER);
 		//std::cout << "picking up!\n";
 	}
 
@@ -162,7 +162,7 @@ private:
 	//RobotDrive *shooterDrive;
 	CANTalon *launcher;
 	CANTalon *pickup;
-	CANTalon *launch_spinny;
+	CANTalon *ramp;
 	ShooterState state;
 	
 	Timer shotClock;