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

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;
	}

	/**
	 * 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 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;
};

#endif /* SRC_SHOOTER_H_ */