Merge branch 'shooter'

DriveBase/src/Robot.cpp

@@ -15,6 +15,7 @@ class Robot: public IterativeRobot {
 	CANTalon l2_drive;
 	CANTalon shooter1;
 	CANTalon shooter2;
+	CANTalon ramp;
 	TankDrive drive;
 	Shooter shooter;
 	Joystick rstick, lstick;
@@ -31,10 +32,11 @@ public:
 			l2_drive(4), 	// left wheel 2
 			shooter1(10),  	// shooter drive 1
 			shooter2(11),   // shooter drive 2
+			ramp(12),
 			drive(			// initialize TankDrive object.
 					&l1_drive, &l2_drive, &r1_drive, &r2_drive),
 			shooter(		// initialize Shooter object.
-					&shooter1, &shooter2),
+					&shooter1, &shooter2, &ramp),
 			rstick(0), 		// right stick (operator)
 			lstick(1)		// left stick (driver)
 	{

DriveBase/src/Shooter.h

@@ -8,22 +8,83 @@
 #ifndef SRC_SHOOTER_H_
 #define SRC_SHOOTER_H_
 
+#define PICKUP_POWER 0.5
+#define RAMP_LOWER_DURATION 2 //Rotations.
+
+
+/**
+ * You can use the values assigned to each of these values as the number
+ * of rotations to run the motor down from the "Shoot" position.
+ *
+ * This might not be the best way to do it, and also requires that we
+ * figure out how to read the Hall Effect signal from the motor.
+ */
+enum RampState {
+	Shoot = 0, // 0 rotations
+	Half = 1,  // 1 rotation?
+	Down = 2,   // 2 rotations?
+	Uncalibrated = -1
+};
+
 class Shooter {
 public:
-	Shooter(CANTalon *s1, CANTalon *s2) {
+	/**
+	 * Shooter talons and ramp talon.
+	 * s2 is also for the pickup-mechanism and can be controlled independently.
+	 *
+	 */
+	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
 		shooterDrive = new RobotDrive(s1, s2);
+		pickup = s2;
+		ramp = r;
+		rampState = Uncalibrated;
 	}
 
-	virtual ~Shooter()
-	{
+	/**
+	 * Call this method on TeleopInit so that the ramp is properly
+	 * set at the beginning of the match.
+	 */
+	RampState CalibrateRamp() {
+		// TODO:
+		// Raise ramp until limit switch is triggered,
+		// then lower the ramp to its lower limit.
+
+		return Down;
+	}
+
+	virtual ~Shooter() {
 		delete shooterDrive;
+		delete pickup;
+		delete ramp;
+	}
+
+	void PickUp(bool state = true) {
+		pickup->Set((float) (state * PICKUP_POWER));
+	}
+
+	void SetRamp(RampState state) {
+		// TODO:
+		// Move the Ramp to the set position.
+	}
+
+	/**
+	 * Call this to run the pickup backwards if the ball gets jammed somehow...
+	 */
+	void Unjam()
+	{
+		pickup->Set(-1 * PICKUP_POWER);
 	}
 
 	void SetPower(float power) {
 		shooterDrive->TankDrive(power, -power, false);
 	}
 private:
+
 	RobotDrive *shooterDrive;
+	CANTalon *pickup;
+	CANTalon *ramp;
+
+	RampState rampState;
 };
 
 #endif /* SRC_SHOOTER_H_ */