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ramp reinstated

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This commit is contained in:
Jason Cox 2016-02-12 19:37:36 -05:00
parent 3c3d14f01b
commit deef7fcf20
2 changed files with 29 additions and 6 deletions
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12
Robot2016/src/Robot.cpp
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@ -112,17 +112,25 @@ private:
// This is shit code for testing. Replace it with real code. // This is shit code for testing. Replace it with real code.
if(operator_stick.GetRawButton(RAMP_RAISE)) if(operator_stick.GetRawButton(RAMP_RAISE))
{ {
launch_spinny.Set(1); //launch_spinny.Set(1);
shooter.RaiseRamp();
} }
else if(operator_stick.GetRawButton(RAMP_LOWER)) else if(operator_stick.GetRawButton(RAMP_LOWER))
{ {
launch_spinny.Set(-1); //launch_spinny.Set(-1);
shooter.LowerRamp();
}
else if(operator_stick.GetRawButton(TRIGGER))
{
shooter.BoostRamp();
} }
else else
{ {
launch_spinny.Set(0); launch_spinny.Set(0);
} }
/* /*
* Run the Shooter only while the THUMB button is held down on the operator stick. * Run the Shooter only while the THUMB button is held down on the operator stick.
* the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp * the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp

23
Robot2016/src/Shooter.h
View File

@ -45,9 +45,24 @@ public:
void StopShooter() void StopShooter()
{ {
ready = true; ready = true;
launch_spinny.Set(0); launch_spinny->Set(0);
launcher.Set(0); launcher->Set(0);
pickup.Set(0); pickup->Set(0);
}
void LowerRamp()
{
launch_spinny->Set(-0.1);
}
void RaiseRamp()
{
launch_spinny->Set(0.1);
}
void BoostRamp()
{
launch_spinny->Set(0.5);
} }
void Shoot() void Shoot()
@ -65,7 +80,7 @@ public:
void PickUp(bool state = true) void PickUp(bool state = true)
{ {
pickup->Set((float) (state * PICKUP_POWER)); pickup->Set((float) (state * PICKUP_POWER));
launch_spinny->Set(-1.0*PICKUP_POWER); //launch_spinny->Set(-1.0*PICKUP_POWER);
std::cout << "picking up!\n"; std::cout << "picking up!\n";
} }