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-launch_spinny

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+ramp
This commit is contained in:
Aidan Ferguson 2016-02-20 15:14:51 -05:00
parent a983987fa2
commit a786907f72
2 changed files with 17 additions and 17 deletions
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12
Robot2016/src/Robot.cpp
View File

@ -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;
}

22
Robot2016/src/Shooter.h
View File

@ -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;