From ce69ef14b67b3e3188b7bc6c9bda218e4a5daaec Mon Sep 17 00:00:00 2001
From: dkbug <vtbtkid@gmail.com>
Date: Sat, 20 Feb 2016 15:45:47 -0500
Subject: [PATCH] added good ramp code

---
 Robot2016/src/Robot.cpp | 17 +++++++----------
 Robot2016/src/Shooter.h |  4 ++--
 2 files changed, 9 insertions(+), 12 deletions(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index 7117b87..196bdc1 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -119,26 +119,23 @@ private:
 
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
-		if(operator_stick.GetRawButton(RAMP_LOWER))
+		if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			std::cout << "Lowering Ramp.";
 			//ramp.Set(-1);
 			shooter.LowerRamp();
 			ramping = true;
 		}
-		/*else if(!ramping && operator_stick.GetRawButton(TRIGGER))
-		{
-			shooter.BoostRamp();
-			ramping = true;
-		}*/
-		else if(ramping
-				&& !operator_stick.GetRawButton(RAMP_LOWER)
-				&& ramp.GetForwardLimitOK())
+		else if(!ramping
+				&& !operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			shooter.RaiseRamp();
+			ramping = true;
 		}
-		else
+		else if(ramping && !operator_stick.GetRawButton(RAMP_RAISE)
+				&& !operator_stick.GetRawButton(RAMP_LOWER))
 		{
+			shooter.StopRamp();
 			ramping = false;
 		}
 
diff --git a/Robot2016/src/Shooter.h b/Robot2016/src/Shooter.h
index 562bf75..257d661 100644
--- a/Robot2016/src/Shooter.h
+++ b/Robot2016/src/Shooter.h
@@ -64,7 +64,7 @@ public:
 
 	void LowerRamp()
 	{
-		ramp->Set(-1);
+		ramp->Set(-0.5);
 		if(ramp->Limits::kReverseLimit){
 			SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
 		} else {
@@ -74,7 +74,7 @@ public:
 
 	void RaiseRamp()
 	{
-		ramp->Set(1);
+		ramp->Set(0.5);
 		if(ramp->Limits::kForwardLimit){
 			SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
 		} else {