122 lines
2.5 KiB
C++
122 lines
2.5 KiB
C++
/*
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* Shooter.h
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*
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* Created on: Feb 2, 2016
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* Author: Jason
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*/
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#ifndef SRC_SHOOTER_H_
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#define SRC_SHOOTER_H_
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#define PICKUP_POWER 0.8
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#define RAMP_LOWER_DURATION 2 //Rotations.
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/**
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* You can use the values assigned to each of these values as the number
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* of rotations to run the motor down from the "Shoot" position.
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*
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* This might not be the best way to do it, and also requires that we
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* figure out how to read the Hall Effect signal from the motor.
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*/
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enum RampState {
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Shoot = 0, // 0 rotations
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Half = (RAMP_LOWER_DURATION / 2), // 1 rotation?
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Down = RAMP_LOWER_DURATION, // 2 rotations?
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Uncalibrated = -1,
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Transitioning = -2
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};
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class Shooter {
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public:
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/**
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* Shooter talons and ramp talon.
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* s2 is also for the pickup-mechanism and can be controlled independently.
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*
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*/
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Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
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// shooterDrive = new RobotDrive(s1, s2);
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launcher = s1;
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pickup = s2;
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ramp = r;
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rampState = Uncalibrated;
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}
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/**
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* Call this method on TeleopInit so that the ramp is properly
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* set at the beginning of the match.
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*/
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RampState CalibrateRamp() {
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// TODO:
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// Raise ramp until limit switch is triggered,
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// then lower the ramp to its lower limit.
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return Down;
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}
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virtual ~Shooter() {
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delete launcher;
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delete pickup;
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delete ramp;
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}
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void PickUp(bool state = true) {
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pickup->Set((float) (state * PICKUP_POWER));
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std::cout << "picking up!\n";
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}
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void SetRamp(RampState state) {
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// TODO:
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// Move the Ramp to the set position.
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switch (state)
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{
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case Shoot:
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{
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if (ramp->GetForwardLimitOK())
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{
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ramp->Set(1);
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} else
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{
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ramp->Set(0);
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}
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}
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case Half:
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{
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//yeah, put something here when you get the encoder working.
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std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
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}
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case Down:
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{
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//see half.
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std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
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}
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}
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}
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/**
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* Call this to run the pickup backwards if the ball gets jammed somehow...
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*/
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void Unjam()
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{
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pickup->Set(-1 * PICKUP_POWER);
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}
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void SetPower(float power) {
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pickup->Set(power);
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launcher->Set(power);
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std::cout << "setting shooter power" << std::endl;
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}
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private:
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RobotDrive *shooterDrive;
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CANTalon *launcher;
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CANTalon *pickup;
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CANTalon *ramp;
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RampState rampState;
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RampState targetState;
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RampState previousState;
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};
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#endif /* SRC_SHOOTER_H_ */
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