From e6934c911785e43cf58b119693ccea731e72d000 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 13 Feb 2016 16:40:07 -0500
Subject: [PATCH] enum ShooterState, starts of associated switch, etc.

---
 Robot2016/src/Robot.cpp |  6 ++++-
 Robot2016/src/Shooter.h | 57 ++++++++++++++++++++++++++++++++++++++++-
 2 files changed, 61 insertions(+), 2 deletions(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index cab8ba8..86b0612 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -35,7 +35,7 @@ public:
 		shooter(				// initialize Shooter object.
 				&shooter1, &shooter2, &launch_spinny),
 		driver_stick(0), 				// right stick (operator)
-		operator_stick(1)				// left stick (driver)
+		operator_stick(1)			// left stick (driver)
 	{
 
 	}
@@ -117,6 +117,10 @@ private:
 		//std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
+		if (operator_stick.GetRawButton(TRIGGER))
+		{
+
+		}
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
 		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
diff --git a/Robot2016/src/Shooter.h b/Robot2016/src/Shooter.h
index 2ec7e5f..aeeab87 100644
--- a/Robot2016/src/Shooter.h
+++ b/Robot2016/src/Shooter.h
@@ -9,7 +9,9 @@
 #define SRC_SHOOTER_H_
 
 #define PICKUP_POWER 0.5
+#define LAUNCH_POWER 1
 #define SPINUP_TIME 1.5 // seconds.
+#define LAUNCH_TIME 0.5
 
 class Shooter 
 {
@@ -20,13 +22,24 @@ public:
 	 * s2 is also for the pickup-mechanism and can be controlled independently.
 	 *
 	 */
-	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) 
+	enum ShooterState
+	{
+		READY,
+		ON_FIRE,
+		SPINNINGUP,
+		LAUNCH,
+		LAUNCHING,
+		RESETTING
+	};
+
+	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r)
 	{
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
 		launch_spinny = r;
 		ready = true;
+		state = READY;
 	}
 
 	/**
@@ -78,6 +91,47 @@ public:
 		the launch-spinny should be STOPPED.  Start a Timer object counting
 		When... too hard to write.. I emailed you a flow chart.
 	 */
+		switch (state)
+		{
+			case READY:
+			{
+				state = SPINNINGUP;
+				launch_spinny->Set(-1);
+				launcher->Set(PICKUP_POWER);
+				pickup->Set(PICKUP_POWER);
+				shotClock.Reset();
+				shotClock.Start();
+				break;
+			}
+			case SPINNINGUP:
+			{
+				if (shotClock.Get() > SPINUP_TIME)
+				{
+					state = LAUNCH;
+					shotClock.Reset();
+					shotClock.Start();
+				} else
+				{
+					std::cout << "*Goku noises*\n";
+				}
+				break;
+			}
+			case LAUNCH:
+			{
+				launch_spinny->Set(1);
+				state = LAUNCHING;
+				break;
+			}
+			case LAUNCHING:
+			{
+				if (shotClock.Get() > LAUNCH_TIME)
+				{
+
+					state = RESETTING;
+				}
+				break;
+			}
+		}
 		
 	}
 	
@@ -109,6 +163,7 @@ private:
 	CANTalon *launcher;
 	CANTalon *pickup;
 	CANTalon *launch_spinny;
+	ShooterState state;
 	
 	Timer shotClock;  
 	bool ready;