From c3a621a5c4b471cca19b33c64b55a449d0eb9a9c Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Sat, 13 Feb 2016 12:00:28 -0500
Subject: [PATCH] some more bug fixes.

---
 Robot2016/src/Robot.cpp | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index 7688ac4..b356e3d 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -8,6 +8,7 @@
 #define THUMB 		2	// Thumb button number
 #define RAMP_RAISE  3   // Button 3 for Raising Ramp
 #define RAMP_LOWER  4	// Button 4 to lower ramp.
+#define UNJAM		11
 
 #define DEADZONE_RADIUS 0.01 	// Deadzone Radius prevents tiny twitches in the joystick's value from
 								// affecting the robot.  Use this for cleaning up drive train and shooter.
@@ -45,6 +46,7 @@ private:
 	bool inverting;
 	bool ramping;
 	bool shooting;
+	bool unjamming;
 	float shooter_power;
 
 	LiveWindow *lw = LiveWindow::GetInstance();
@@ -68,6 +70,7 @@ private:
 		pickupRunning = false;
 		ramping = false;
 		shooting = false;
+		unjamming = false;
 		shooter_power = 0;
 
 	}
@@ -135,7 +138,9 @@ private:
 			shooter.BoostRamp();
 			ramping = true;
 		}*/
-		else if(ramping)
+		else if(ramping
+				&& !operator_stick.GetRawButton(RAMP_LOWER)
+				&& !operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			std::cout << "Stopping Ramp.";
 			shooter.StopRamp();
@@ -143,6 +148,17 @@ private:
 		}
 
 
+		if(!unjamming && operator_stick.GetRawButton(UNJAM))
+		{
+			unjamming = true;
+			shooter.Unjam();
+		}
+		else if(unjamming && !operator_stick.GetRawButton(UNJAM))
+		{
+			shooter.PickUp(false);
+			unjamming = false;
+		}
+
 
 		/*
 		 * 	Run the Shooter only while the THUMB button is held down on the operator stick.
@@ -191,7 +207,7 @@ private:
 			shooting = true;
 			shooter.Shoot();
 		}
-		else if(shooting)
+		else if(shooting  && !operator_stick.GetRawButton(TRIGGER))
 		{
 			shooting = false;
 			shooter.StopShooter();