FRC2016/src/Shooter.h

/*
 * Shooter.h
 *
 *  Created on: Feb 2, 2016
 *      Author: Jason
 */

#ifndef SRC_SHOOTER_H_
#define SRC_SHOOTER_H_

#define PICKUP_POWER 1.0
#define SPINUP_TIME 1.5 // seconds.

class Shooter 
{
public:

	/**
	 * Shooter talons and launch-spinny talon.
	 * s2 is also for the pickup-mechanism and can be controlled independently.
	 *
	 */
	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) 
	{
	//	shooterDrive = new RobotDrive(s1, s2);
		launcher = s1;
		pickup = s2;
		launch_spinny = r;
		ready = true;
	}

	/**
	 * Call this method on TeleopInit so that the ramp is properly
	 * set at the beginning of the match.
	 */

	virtual ~Shooter() 
	{
		delete launcher;
		delete pickup;
		delete launch_spinny;
	}
	
	void StopShooter()
	{
		ready = true;
		launch_spinny->Set(0);
		launcher->Set(0);
		pickup->Set(0);
	}

	void LowerRamp()
	{
		launch_spinny->Set(-1);
	}

	void RaiseRamp()
	{
		launch_spinny->Set(1);
	}

	void StopRamp()
	{
		launch_spinny->Set(0);
	}

	void BoostRamp()
	{
		launch_spinny->Set(1);
	}
	
	void Shoot()
	{
	// TODO: Shooter Logic should go as follows:
	
	/*
		Assuming a ball is held in the shooter.  When the trigger is pulled,
		the launch-spinny should be STOPPED.  Start a Timer object counting
		When... too hard to write.. I emailed you a flow chart.
	 */
		
	}
	
	void PickUp(bool state = true) 
	{
		pickup->Set((float) (state * PICKUP_POWER));
		//launch_spinny->Set(-1.0*PICKUP_POWER);
		std::cout << "picking up!\n";
	}

	/**
	 * Call this to run the pickup backwards if the ball gets jammed somehow...
	 */
	void Unjam()
	{
		pickup->Set(-1 * PICKUP_POWER);
	}

	void SetPower(float power) 
	{
		pickup->Set(power);
		launcher->Set(power);
		std::cout << "setting shooter power" << std::endl;
	}
private:

	//RobotDrive *shooterDrive;
	CANTalon *launcher;
	CANTalon *pickup;
	CANTalon *launch_spinny;
	
	Timer shotClock;  
	bool ready;
};

#endif /* SRC_SHOOTER_H_ */