From 4a6b8c74fa29d94b70bf620a1d1019ada0a818b4 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 20:43:09 -0500
Subject: [PATCH 01/35] Lots of includes and a LogData() embryo

---
 src/Robot.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 4913f17..2766c38 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -47,6 +47,12 @@ private:
 	const std::string autoNameCustom = "My Auto";
 	std::string autoSelected;
 
+	void LogData()
+	{
+		static PowerDistributionPanel pdp;
+		static DriverStation* ds = DriverStation::GetInstance();
+	}
+
 	void RobotInit()
 	{
 		chooser = new SendableChooser();

From 8039c16b708ae7bcad7b329b0a5496e262b74ff2 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 20:43:45 -0500
Subject: [PATCH 02/35] Lots of includes (for real this time) and a LogData()
 embryo

---
 src/Robot.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 2766c38..c4aff98 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -1,5 +1,13 @@
 #include "WPILib.h"
 #include "Shooter.h"
+#include <ctime>
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+#include <string>
+#include <sys/time.h>
+#include <vector>
+#include <cmath>
 
 #ifndef BUTTON_LAYOUT
 #define BUTTON_LAYOUT

From 91124a0ff09ac89ecd583d9e2ab716aea3bb607e Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 21:19:18 -0500
Subject: [PATCH 03/35] more of LogData(). still not done, but I'm tired.

---
 src/Robot.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index c4aff98..d6cf381 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -59,6 +59,15 @@ private:
 	{
 		static PowerDistributionPanel pdp;
 		static DriverStation* ds = DriverStation::GetInstance();
+		static DriverStation* ds = DriverStation::GetInstance();
+		static std::vector<CANTalon*> motors;
+
+		static std::ofstream logA, logB, logC;
+		timeval tm;
+
+		SmartDashboard::PutBoolean("log A", logA.is_open());
+		SmartDashboard::PutBoolean("log B", logB.is_open());
+		SmartDashboard::PutBoolean("log C", logC.is_open());
 	}
 
 	void RobotInit()

From 1938d4b935fcba83cc79ed026637906a08a303df Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Mon, 15 Feb 2016 20:54:20 -0500
Subject: [PATCH 04/35] tweaks - untested

---
 src/Robot.cpp |  8 ++++++--
 src/Shooter.h | 19 +++++++++++--------
 2 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 1af8deb..b12359c 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -163,7 +163,7 @@ private:
 		/*
 		 * 	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
-		 *	every itteration of the TeleopPeriodic method (once every 10ms!)
+		 *	every iteration of the TeleopPeriodic method (once every 10ms!)
 		 *	The pickup is disabled when the thumb button is released, but the code still
 		 *  has 'pickupRunning' as true.
 		 */
@@ -177,10 +177,14 @@ private:
 			shooter.PickUp(false);
 			pickupRunning = false;
 		}
+		else if(launch_spinny.Get() != 1)
+		{
+			launch_spinny.Set(1);
+		}
 
 		/*
 		 *	The 'inverting' variable is used to make sure that the drive train isn't getting
-		 *	inverted every itteration of the TeleopPeriodic method while the button is held down.
+		 *	inverted every iteration of the TeleopPeriodic method while the button is held down.
 		 *	This is important because the TeleopPeriodic method executes something like once every 10ms.
 		 *	Thus, this if-else if pair make the button a toggle.
 		 */
diff --git a/src/Shooter.h b/src/Shooter.h
index c8980f5..9c8af1e 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -84,13 +84,10 @@ public:
 	
 	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.
-	 */
+		if (shotClock.Get() > (SPINUP_TIME + 0.1))
+		{
+			state = RESETTING;
+		}
 		switch (state)
 		{
 			case READY:
@@ -152,7 +149,13 @@ public:
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
 		launcher->Set((float) (state * PICKUP_POWER * -1));
-		//launch_spinny->Set(-1.0*PICKUP_POWER);
+		if (state)
+		{
+			launch_spinny->Set(-1.0);
+		} else
+		{
+			launch_spinny->Set(1);
+		}
 		//std::cout << "picking up!\n";
 	}
 

From 9ac893271f93f9e22db4daeac43756aed33531c6 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Wed, 17 Feb 2016 15:22:25 -0500
Subject: [PATCH 05/35] Added check on limit switches to prevent uneccessary
 motor power setting on the RAMP

---
 src/Shooter.h | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/Shooter.h b/src/Shooter.h
index 9c8af1e..f948abe 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -64,12 +64,14 @@ public:
 
 	void LowerRamp()
 	{
-		launch_spinny->Set(-1);
+		if(launch_spinny->GetReverseLimitOK())
+			launch_spinny->Set(-1);
 	}
 
 	void RaiseRamp()
 	{
-		launch_spinny->Set(1);
+		if(launch_spinny->GetForwardLimitOK())
+			launch_spinny->Set(1);
 	}
 
 	void StopRamp()
@@ -109,7 +111,7 @@ public:
 					shotClock.Start();
 				} else
 				{
-					std::cout << "*Goku noises*\n";
+					//std::cout << "*Goku noises*\n";
 				}
 				break;
 			}

From 139ae70b1bf625f6549dee09fe41383bdc9f110e Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Wed, 17 Feb 2016 15:28:33 -0500
Subject: [PATCH 06/35] auto raising ramp test

---
 src/Robot.cpp | 17 ++++++-----------
 1 file changed, 6 insertions(+), 11 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index b12359c..3e4dc1b 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -119,14 +119,7 @@ private:
 
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
-		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
-		{
-			std::cout << "Raising Ramp.";
-			//launch_spinny.Set(1);
-			shooter.RaiseRamp();
-			ramping =true;
-		}
-		else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
+		if(operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			std::cout << "Lowering Ramp.";
 			//launch_spinny.Set(-1);
@@ -140,10 +133,12 @@ private:
 		}*/
 		else if(ramping
 				&& !operator_stick.GetRawButton(RAMP_LOWER)
-				&& !operator_stick.GetRawButton(RAMP_RAISE))
+				&& launch_spinny.GetForwardLimitOK())
+		{
+			shooter.RaiseRamp();
+		}
+		else
 		{
-			std::cout << "Stopping Ramp.";
-			shooter.StopRamp();
 			ramping = false;
 		}
 

From 3584fc46340ac9aea85bd5d99d8fe7c6cc517668 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 20 Feb 2016 13:58:35 -0500
Subject: [PATCH 07/35] untested one-touch shooting

---
 src/Robot.cpp | 2 +-
 src/Shooter.h | 5 +++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 3e4dc1b..790269d 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -202,7 +202,7 @@ private:
 		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
 		 *  that would lock the robot every time the trigger is hit.
 		 */
-		if(operator_stick.GetRawButton(TRIGGER))
+		if(operator_stick.GetRawButton(TRIGGER) || (shooter.GetState() != 0))
 		{
 			shooting = true;
 			shooter.Shoot();
diff --git a/src/Shooter.h b/src/Shooter.h
index f948abe..cffe153 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -175,6 +175,11 @@ public:
 		launcher->Set(power);
 		//std::cout << "setting shooter power" << std::endl;
 	}
+
+	int GetState()
+	{
+		return state;
+	}
 private:
 
 	//RobotDrive *shooterDrive;

From fea200cca5bf2b1e2ccc3c212026f6d4b74a6eb4 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 20 Feb 2016 14:05:01 -0500
Subject: [PATCH 08/35] SPELLING

---
 src/Robot.cpp | 19 +++++++++----------
 src/Shooter.h | 30 +++++++++++++++---------------
 2 files changed, 24 insertions(+), 25 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 790269d..cc6010f 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -20,7 +20,7 @@ class Robot: public IterativeRobot
 {
 	Talon left_drive, right_drive;
 	CANTalon shooter1, shooter2,
-			launch_spinny;
+			ramp;
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
@@ -30,10 +30,10 @@ public:
 		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
 		shooter1(11),  			// shooter drive 1
 		shooter2(10),   		// shooter drive 2
-		launch_spinny(12),
+		ramp(12),
 		drive(&left_drive, &right_drive),
 		shooter(				// initialize Shooter object.
-				&shooter1, &shooter2, &launch_spinny),
+				&shooter1, &shooter2, &ramp),
 		driver_stick(0), 				// right stick (operator)
 		operator_stick(1)			// left stick (driver)
 	{
@@ -65,7 +65,7 @@ private:
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
-		//launch_spinny.SetInverted(true);
+		//ramp.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
 		ramping = false;
@@ -114,7 +114,7 @@ private:
 
 	void TeleopPeriodic()
 	{
-		//std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
+		//std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
 		//bool rampDoing = false;
@@ -122,7 +122,7 @@ private:
 		if(operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			std::cout << "Lowering Ramp.";
-			//launch_spinny.Set(-1);
+			//ramp.Set(-1);
 			shooter.LowerRamp();
 			ramping = true;
 		}
@@ -133,7 +133,7 @@ private:
 		}*/
 		else if(ramping
 				&& !operator_stick.GetRawButton(RAMP_LOWER)
-				&& launch_spinny.GetForwardLimitOK())
+				&& ramp.GetForwardLimitOK())
 		{
 			shooter.RaiseRamp();
 		}
@@ -172,9 +172,9 @@ private:
 			shooter.PickUp(false);
 			pickupRunning = false;
 		}
-		else if(launch_spinny.Get() != 1)
+		else if(ramp.Get() != 1)
 		{
-			launch_spinny.Set(1);
+			ramp.Set(1);
 		}
 
 		/*
@@ -197,7 +197,6 @@ private:
 		
 		
 		/*
-		 * 	Unlike the previous actions, this method does need to be called every itteration of
 		 *	TeleopPeriodic.  This is because the logic running this operation needs to be checked
 		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
 		 *  that would lock the robot every time the trigger is hit.
diff --git a/src/Shooter.h b/src/Shooter.h
index cffe153..5c04da7 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -37,7 +37,7 @@ public:
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
-		launch_spinny = r;
+		ramp = r;
 		ready = true;
 		state = READY;
 	}
@@ -51,37 +51,37 @@ public:
 	{
 		delete launcher;
 		delete pickup;
-		delete launch_spinny;
+		delete ramp;
 	}
 	
 	void StopShooter()
 	{
 		ready = true;
-		launch_spinny->Set(0);
+		ramp->Set(0);
 		launcher->Set(0);
 		pickup->Set(0);
 	}
 
 	void LowerRamp()
 	{
-		if(launch_spinny->GetReverseLimitOK())
-			launch_spinny->Set(-1);
+		if(ramp->GetReverseLimitOK())
+			ramp->Set(-1);
 	}
 
 	void RaiseRamp()
 	{
-		if(launch_spinny->GetForwardLimitOK())
-			launch_spinny->Set(1);
+		if(ramp->GetForwardLimitOK())
+			ramp->Set(1);
 	}
 
 	void StopRamp()
 	{
-		launch_spinny->Set(0);
+		ramp->Set(0);
 	}
 
 	void BoostRamp()
 	{
-		launch_spinny->Set(1);
+		ramp->Set(1);
 	}
 	
 	void Shoot()
@@ -95,7 +95,7 @@ public:
 			case READY:
 			{
 				state = SPINNINGUP;
-				launch_spinny->Set(-1);
+				ramp->Set(-1);
 				launcher->Set(LAUNCH_POWER);
 				pickup->Set(LAUNCH_POWER);
 				shotClock.Reset();
@@ -117,7 +117,7 @@ public:
 			}
 			case LAUNCH:
 			{
-				launch_spinny->Set(LAUNCH_POWER);
+				ramp->Set(LAUNCH_POWER);
 				state = LAUNCHING;
 				break;
 			}
@@ -132,7 +132,7 @@ public:
 			}
 			case RESETTING:
 			{
-				launch_spinny->Set(0);
+				ramp->Set(0);
 				launcher->Set(0);
 				pickup->Set(0);
 				state = READY;
@@ -153,10 +153,10 @@ public:
 		launcher->Set((float) (state * PICKUP_POWER * -1));
 		if (state)
 		{
-			launch_spinny->Set(-1.0);
+			ramp->Set(-1.0);
 		} else
 		{
-			launch_spinny->Set(1);
+			ramp->Set(1);
 		}
 		//std::cout << "picking up!\n";
 	}
@@ -185,7 +185,7 @@ private:
 	//RobotDrive *shooterDrive;
 	CANTalon *launcher;
 	CANTalon *pickup;
-	CANTalon *launch_spinny;
+	CANTalon *ramp;
 	ShooterState state;
 	
 	Timer shotClock;  

From 8327823bd12143689878bf052a81ab7d99938ae0 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 20 Feb 2016 14:05:56 -0500
Subject: [PATCH 09/35] SPELLING

---
 src/Robot.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index cc6010f..98f4375 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -197,6 +197,7 @@ private:
 		
 		
 		/*
+		 * Unlike the previous actions, this method does need to be called every iteration of
 		 *	TeleopPeriodic.  This is because the logic running this operation needs to be checked
 		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
 		 *  that would lock the robot every time the trigger is hit.

From 904a30ab8bf5a06331f8c27498a297b24baed2ca Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 20 Feb 2016 14:08:32 -0500
Subject: [PATCH 10/35] vomits ramp current onto console

---
 src/Robot.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 98f4375..49aeff1 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -114,7 +114,7 @@ private:
 
 	void TeleopPeriodic()
 	{
-		//std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
+		std::cout << "Ramp current: "<< ramp.GetOutputCurrent() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
 		//bool rampDoing = false;

From 8f8c64a4500d2a37ffdcbfb7caabd8998fbd572a Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 20 Feb 2016 14:51:59 -0500
Subject: [PATCH 11/35] TalonSRX, not Talon

---
 src/Robot.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 49aeff1..7117b87 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -18,7 +18,7 @@
 
 class Robot: public IterativeRobot
 {
-	Talon left_drive, right_drive;
+	TalonSRX left_drive, right_drive;
 	CANTalon shooter1, shooter2,
 			ramp;
 	RobotDrive drive;

From 70fd1304a2124917daad67c158a58f2be216cea6 Mon Sep 17 00:00:00 2001
From: john sandstedt <john sandstedt>
Date: Sat, 20 Feb 2016 15:22:53 -0500
Subject: [PATCH 12/35] adam style csv logging code

---
 src/Robot.cpp | 88 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 88 insertions(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index d6cf381..a72b64b 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -19,6 +19,10 @@
 
 #endif  // BUTTON_LAYOUT
 
+#ifndef LOG
+#define LOG(X) logA << X; logB << X; logC << X //for writing data to the csv file
+#endif
+
 class Robot: public IterativeRobot
 {
 	Talon left_drive, right_drive;
@@ -113,6 +117,7 @@ private:
 
 	void AutonomousPeriodic()
 	{
+		LogCSVData();
 		if(autoSelected == autoNameCustom){
 			//Custom Auto goes here
 		} else {
@@ -129,6 +134,7 @@ private:
 
 	void TeleopPeriodic()
 	{
+		LogCSVData();
 		std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
@@ -179,6 +185,88 @@ private:
 	void TestPeriodic()
 	{
 		lw->Run();
+		LogCSVData();
+	}
+	void LogCSVData()
+	{
+		static PowerDistributionPanel pdp;	// preparing to read from the pdp
+		static DriverStation* ds = DriverStation::GetInstance();
+		static std::vector<CANTalon*> motors;
+
+		static std::ofstream logA, logB, logC;
+		timeval tm;
+
+		SmartDashboard::PutBoolean("log A", logA.is_open());
+		SmartDashboard::PutBoolean("log B", logB.is_open());
+		SmartDashboard::PutBoolean("log C", logC.is_open());
+
+		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
+		{
+			std::fstream logNumFile;
+			int logNum;
+			logNumFile.open("/home/lvuser/logNum");
+			logNumFile >> logNum;
+			logNum++;
+			logNumFile.seekp(0);
+			logNumFile << logNum;
+			// writing to /home/lvuser/logs/[unixtime].log
+			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
+			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
+			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
+
+			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
+			for (int ii = 0; ii < 16; ii++)
+			{
+				LOG("pdpChannel " << ii << " current\t");
+			}
+
+			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
+			motors.push_back(&ramp);
+			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
+			motors.push_back(&shooter1);
+			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
+			motors.push_back(&shooter2);
+
+			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
+			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
+			LOG("\tTestStage");
+			LOG(std::endl);
+		}
+		gettimeofday(&tm, NULL);
+		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
+		// Some general information
+		LOG("\t" << pdp.GetVoltage());
+		LOG("\t" << pdp.GetTemperature());
+		LOG("\t" << pdp.GetTotalCurrent());
+		// current on each channel
+		for (int ii = 0; ii < 16; ii++)
+		{
+			LOG("\t" << pdp.GetCurrent(ii));
+		}
+
+		//Talon Data
+		for(int ii = 0; ii < motors.size(); ii++)
+		{
+			LOG("\t" << motors[ii]->GetBusVoltage());
+			LOG("\t" << motors[ii]->GetOutputVoltage());
+			LOG("\t" << motors[ii]->GetOutputCurrent());
+			LOG("\t" << motors[ii]->GetTemperature());
+		}
+		//control data
+		LOG("\t" << driver_stick.GetX());
+		LOG("\t" << driver_stick.GetY());
+		LOG("\t" << driver_stick.GetTwist());
+
+		//DriverStation Data
+		LOG("\t" << ds->GetAlliance());
+		LOG("\t" << ds->GetLocation());
+		LOG("\t" << ds->GetMatchTime());
+		LOG("\t" << ds->IsFMSAttached());
+		LOG("\t" << ds->IsSysBrownedOut());
+		LOG(std::endl);
 	}
 };
 

From 220862a63e3fec993449a70c41f2066cd77c5ec8 Mon Sep 17 00:00:00 2001
From: dkbug <vtbtkid@gmail.com>
Date: Sat, 20 Feb 2016 15:45:47 -0500
Subject: [PATCH 13/35] added good ramp code

---
 src/Robot.cpp | 17 +++++++----------
 src/Shooter.h |  4 ++--
 2 files changed, 9 insertions(+), 12 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 7117b87..196bdc1 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -119,26 +119,23 @@ private:
 
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
-		if(operator_stick.GetRawButton(RAMP_LOWER))
+		if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			std::cout << "Lowering Ramp.";
 			//ramp.Set(-1);
 			shooter.LowerRamp();
 			ramping = true;
 		}
-		/*else if(!ramping && operator_stick.GetRawButton(TRIGGER))
-		{
-			shooter.BoostRamp();
-			ramping = true;
-		}*/
-		else if(ramping
-				&& !operator_stick.GetRawButton(RAMP_LOWER)
-				&& ramp.GetForwardLimitOK())
+		else if(!ramping
+				&& !operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			shooter.RaiseRamp();
+			ramping = true;
 		}
-		else
+		else if(ramping && !operator_stick.GetRawButton(RAMP_RAISE)
+				&& !operator_stick.GetRawButton(RAMP_LOWER))
 		{
+			shooter.StopRamp();
 			ramping = false;
 		}
 
diff --git a/src/Shooter.h b/src/Shooter.h
index 562bf75..257d661 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -64,7 +64,7 @@ public:
 
 	void LowerRamp()
 	{
-		ramp->Set(-1);
+		ramp->Set(-0.5);
 		if(ramp->Limits::kReverseLimit){
 			SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
 		} else {
@@ -74,7 +74,7 @@ public:
 
 	void RaiseRamp()
 	{
-		ramp->Set(1);
+		ramp->Set(0.5);
 		if(ramp->Limits::kForwardLimit){
 			SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
 		} else {

From cca8a07f6859ca50ae02958cad74be259de23987 Mon Sep 17 00:00:00 2001
From: dkbug <vtbtkid@gmail.com>
Date: Sat, 20 Feb 2016 16:02:05 -0500
Subject: [PATCH 14/35] button mis-choice.

---
 src/Robot.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 196bdc1..28872a0 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -6,8 +6,8 @@
 
 #define TRIGGER 	1  	// Trigger button number
 #define THUMB 		2	// Thumb button number
-#define RAMP_RAISE  3   // Button 3 for Raising Ramp
-#define RAMP_LOWER  4	// Button 4 to lower ramp.
+#define RAMP_RAISE  5   // Button 3 for Raising Ramp
+#define RAMP_LOWER  3	// Button 4 to lower ramp.
 #define UNJAM		11
 
 #define DEADZONE_RADIUS 0.01 	// Deadzone Radius prevents tiny twitches in the joystick's value from

From de785512d6e51f5aedded76339dd4b09c713b84f Mon Sep 17 00:00:00 2001
From: dkbug <vtbtkid@gmail.com>
Date: Sat, 20 Feb 2016 16:07:26 -0500
Subject: [PATCH 15/35] fixed a stupid logic error

if ramp is not raising, raise the ramp :P
---
 src/Robot.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 28872a0..34a3fc5 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -169,11 +169,6 @@ private:
 			shooter.PickUp(false);
 			pickupRunning = false;
 		}
-		else if(ramp.Get() != 1)
-		{
-			ramp.Set(1);
-		}
-
 		/*
 		 *	The 'inverting' variable is used to make sure that the drive train isn't getting
 		 *	inverted every iteration of the TeleopPeriodic method while the button is held down.

From 9d2e8f3675f8c5a78b8400f6ab363b6b026ad6f5 Mon Sep 17 00:00:00 2001
From: john sandstedt <john sandstedt>
Date: Mon, 22 Feb 2016 19:04:27 -0500
Subject: [PATCH 16/35] logging code... fixed the error initializing the
 DriverStation Object potentially, and fixed a few of the syntax errors '

---
 src/Robot.cpp | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index a72b64b..e847442 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -31,6 +31,7 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
+	DriverStation ds;
 	float power;
 public:
 	Robot():
@@ -45,6 +46,7 @@ public:
 		driver_stick(0), 				// right stick (operator)
 		operator_stick(1)				// left stick (driver)
 	{
+		ds.GetInstance();
 
 	}
 
@@ -59,11 +61,10 @@ private:
 	const std::string autoNameCustom = "My Auto";
 	std::string autoSelected;
 
-	void LogData()
+	/*void LogData()
 	{
 		static PowerDistributionPanel pdp;
-		static DriverStation* ds = DriverStation::GetInstance();
-		static DriverStation* ds = DriverStation::GetInstance();
+		static DriverStation ds = DriverStation::GetInstance();
 		static std::vector<CANTalon*> motors;
 
 		static std::ofstream logA, logB, logC;
@@ -72,7 +73,7 @@ private:
 		SmartDashboard::PutBoolean("log A", logA.is_open());
 		SmartDashboard::PutBoolean("log B", logB.is_open());
 		SmartDashboard::PutBoolean("log C", logC.is_open());
-	}
+	}*/
 
 	void RobotInit()
 	{
@@ -190,7 +191,6 @@ private:
 	void LogCSVData()
 	{
 		static PowerDistributionPanel pdp;	// preparing to read from the pdp
-		static DriverStation* ds = DriverStation::GetInstance();
 		static std::vector<CANTalon*> motors;
 
 		static std::ofstream logA, logB, logC;
@@ -261,11 +261,11 @@ private:
 		LOG("\t" << driver_stick.GetTwist());
 
 		//DriverStation Data
-		LOG("\t" << ds->GetAlliance());
-		LOG("\t" << ds->GetLocation());
-		LOG("\t" << ds->GetMatchTime());
-		LOG("\t" << ds->IsFMSAttached());
-		LOG("\t" << ds->IsSysBrownedOut());
+		LOG("\t" << ds.GetAlliance());
+		LOG("\t" << ds.GetLocation());
+		LOG("\t" << ds.GetMatchTime());
+		LOG("\t" << ds.IsFMSAttached());
+		LOG("\t" << ds.IsSysBrownedOut());
 		LOG(std::endl);
 	}
 };

From 3475afb6649ac4ce02a56a13ebb6de673534284d Mon Sep 17 00:00:00 2001
From: john sandstedt <john sandstedt>
Date: Mon, 22 Feb 2016 19:13:09 -0500
Subject: [PATCH 17/35] potato... also maybe fixed driverstation::GetInstance()
 again potentially

---
 src/Robot.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index e847442..5e9beaf 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -31,7 +31,7 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
-	DriverStation ds;
+	//DriverStation DriverStation::GetInstance();
 	float power;
 public:
 	Robot():
@@ -46,7 +46,7 @@ public:
 		driver_stick(0), 				// right stick (operator)
 		operator_stick(1)				// left stick (driver)
 	{
-		ds.GetInstance();
+		//DriverStation::GetInstance().GetInstance();
 
 	}
 
@@ -64,7 +64,7 @@ private:
 	/*void LogData()
 	{
 		static PowerDistributionPanel pdp;
-		static DriverStation ds = DriverStation::GetInstance();
+		static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance();
 		static std::vector<CANTalon*> motors;
 
 		static std::ofstream logA, logB, logC;
@@ -261,11 +261,11 @@ private:
 		LOG("\t" << driver_stick.GetTwist());
 
 		//DriverStation Data
-		LOG("\t" << ds.GetAlliance());
-		LOG("\t" << ds.GetLocation());
-		LOG("\t" << ds.GetMatchTime());
-		LOG("\t" << ds.IsFMSAttached());
-		LOG("\t" << ds.IsSysBrownedOut());
+		LOG("\t" << DriverStation::GetInstance().GetAlliance());
+		LOG("\t" << DriverStation::GetInstance().GetLocation());
+		LOG("\t" << DriverStation::GetInstance().GetMatchTime());
+		LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
+		LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
 		LOG(std::endl);
 	}
 };

From 6384820aeff4971fbc72add83f2bfa62ab06d8c6 Mon Sep 17 00:00:00 2001
From: dkbug <vtbtkid@gmail.com>
Date: Sat, 27 Feb 2016 13:25:33 -0500
Subject: [PATCH 18/35] no more settings

---
 .settings/org.eclipse.cdt.managedbuilder.core.prefs | 13 -------------
 1 file changed, 13 deletions(-)
 delete mode 100644 .settings/org.eclipse.cdt.managedbuilder.core.prefs

diff --git a/.settings/org.eclipse.cdt.managedbuilder.core.prefs b/.settings/org.eclipse.cdt.managedbuilder.core.prefs
deleted file mode 100644
index a3c3365..0000000
--- a/.settings/org.eclipse.cdt.managedbuilder.core.prefs
+++ /dev/null
@@ -1,13 +0,0 @@
-eclipse.preferences.version=1
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/delimiter=;
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/operation=remove
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/delimiter=;
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/operation=remove
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/delimiter=;
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/operation=remove
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
-environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true
-environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/delimiter=;
-environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/operation=remove
-environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
-environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true

From 7135c0b27dda3f69d1b7f2f82056064a43d9578f Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 27 Feb 2016 13:29:41 -0500
Subject: [PATCH 19/35] fixed typo

---
 src/Robot.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 62b2b39..fa2058c 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -279,7 +279,7 @@ private:
 		{
 			shooting = false;
 			shooter.StopShooter();
-		}*/
+		}
 		
 		if(!arming && driver_stick.GetRawButton(RAMP_RAISE))
 		{

From 5db889090c0d298622bcc4085efe199bf05b8eda Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 27 Feb 2016 14:30:47 -0500
Subject: [PATCH 20/35] TYPOS

---
 src/Robot.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index fa2058c..95a9c3c 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -204,7 +204,7 @@ private:
 		{
 			shooter.BoostRamp();
 			ramping = true;
-		}
+		}*/
 		else if(ramping && !operator_stick.GetRawButton(RAMP_RAISE)
 				&& !operator_stick.GetRawButton(RAMP_LOWER))
 		{

From 234753f0509a1c3b69b4d50ce9019849a9d4c77b Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 01:25:21 -0500
Subject: [PATCH 21/35] Remove old files, add some to .gitignore, move Makefile

---
 Makefile | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 Makefile

diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..4584c5a
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,32 @@
+LIBS=wpi
+override CFLAGS +=-l$(LIBS) -std=c++14
+TEAM=1786
+SSH_OPTIONS=-q -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no
+SSH_SSHPASS=$(shell command -v sshpass >/dev/null 2>&1 && echo -n "sshpass -p ''")
+
+all: deploy
+
+build: FRCUserProgram
+
+FRCUserProgram: robot.cpp
+	@echo "Building FRCUserProgram"
+	arm-frc-linux-gnueabi-g++ robot.cpp -o FRCUserProgram $(CFLAGS)
+
+clean:
+	rm FRCUserProgram
+
+deploy: build
+	@echo "Copying FRCUserProgram"
+	@ssh $(SSH_OPTIONS) lvuser@10.17.86.20 'rm -f /home/lvuser/FRCUserProgram'
+	@scp $(SSH_OPTIONS) -o "LogLevel QUIET" FRCUserProgram lvuser@10.17.86.20:/home/lvuser/FRCUserProgram
+	@echo "Restarting FRCUserProgram"
+	@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
+
+restart: FRCUserProgram
+	@echo "Restarting FRCUserProgram"
+	@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
+
+stop:
+	@echo "Restarting FRCUserProgram"
+	@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t'y
+

From fbf547f536abff1a98cbccf2a222c62897595d52 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 01:26:54 -0500
Subject: [PATCH 22/35] Simplify Makefile and correct for new file name

---
 Makefile | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index 4584c5a..99c08a2 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,7 @@
 LIBS=wpi
-override CFLAGS +=-l$(LIBS) -std=c++14
+CXX=arm-frc-linux-gnueabi-g++
+override CPPFLAGS +=-std=c++14
+LDFLAGS=-l$(LIBS)
 TEAM=1786
 SSH_OPTIONS=-q -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no
 SSH_SSHPASS=$(shell command -v sshpass >/dev/null 2>&1 && echo -n "sshpass -p ''")
@@ -8,9 +10,9 @@ all: deploy
 
 build: FRCUserProgram
 
-FRCUserProgram: robot.cpp
+FRCUserProgram: src/Robot.cpp
 	@echo "Building FRCUserProgram"
-	arm-frc-linux-gnueabi-g++ robot.cpp -o FRCUserProgram $(CFLAGS)
+	$(CXX) $(CPPFLAGS) $< -o $@ $(LDFLAGS)
 
 clean:
 	rm FRCUserProgram

From 7422635b49eb89b09e4027bd6698f6817e8859e0 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 01:29:29 -0500
Subject: [PATCH 23/35] Remove unused code and generic comment

---
 src/Robot.cpp | 47 -----------------------------------------------
 1 file changed, 47 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 95a9c3c..709722a 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -43,8 +43,6 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
-	//DriverStation DriverStation::GetInstance();
-	//float power;
 public:
 	Robot():
 		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@@ -79,20 +77,6 @@ private:
 	const std::string autoNameCustom = "My Auto";
 	std::string autoSelected;
 
-	/*void LogData()
-	{
-		static PowerDistributionPanel pdp;
-		static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance();
-		static std::vector<CANTalon*> motors;
-
-		static std::ofstream logA, logB, logC;
-		timeval tm;
-
-		SmartDashboard::PutBoolean("log A", logA.is_open());
-		SmartDashboard::PutBoolean("log B", logB.is_open());
-		SmartDashboard::PutBoolean("log C", logC.is_open());
-	}*/
-
 	void RobotInit()
 	{
 		chooser = new SendableChooser();
@@ -115,16 +99,6 @@ private:
 
 	}
 
-
-	/**
-	 * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
-	 * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
-	 * Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
-	 * below the Gyro
-	 *
-	 * You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
-	 * If using the SendableChooser make sure to add them to the chooser code above as well.
-	 */
 	void AutonomousInit()
 	{
 		autoSelected = *((std::string*)chooser->GetSelected());
@@ -402,27 +376,6 @@ private:
 		LOG(std::endl);
 	}
 
-	void SimpleDrive()
-	{
-		float x = -driver_stick.GetX();
-		float y = -driver_stick.GetY();
-		float left = 0;
-		float right = 0;
-
-		if (x > 0)
-		{
-			right = y;
-			left = (1- x*TURN_FACTOR)*y ;
-		}
-		else
-		{
-			left = y;
-			right = (1+x*TURN_FACTOR)*y;
-		}
-
-		drive.TankDrive(left, right);
-	}
-
 	void UpdateDrive()
 	{
 		float x = -driver_stick.GetX();

From 56f043bcd0eec52fe5e4f59f55320d5131d0a942 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 01:52:40 -0500
Subject: [PATCH 24/35] Fix public and private placement

Also fix using LogCSVData and UpdateDrive before they are declared
---
 src/Robot.cpp | 250 +++++++++++++++++++++++++-------------------------
 1 file changed, 126 insertions(+), 124 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 709722a..6ea8ff4 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -36,6 +36,7 @@
 
 class Robot: public IterativeRobot
 {
+private:
 	TalonSRX left_drive, right_drive;
 	CANTalon shooter1, shooter2,
 			ramp,
@@ -43,6 +44,131 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
+
+	// instance variables
+	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
+	bool inverting;
+	bool ramping;
+	bool shooting;
+	bool unjamming;
+	bool arming;
+	bool arcade;
+	float shooter_power;
+
+	LiveWindow *lw = LiveWindow::GetInstance();
+	SendableChooser *chooser;
+	const std::string autoNameDefault = "Default";
+	const std::string autoNameCustom = "My Auto";
+	std::string autoSelected;
+
+	void LogCSVData()
+	{
+		static PowerDistributionPanel pdp;	// preparing to read from the pdp
+		static std::vector<CANTalon*> motors;
+
+		static std::ofstream logA, logB, logC;
+		timeval tm;
+
+		SmartDashboard::PutBoolean("log A", logA.is_open());
+		SmartDashboard::PutBoolean("log B", logB.is_open());
+		SmartDashboard::PutBoolean("log C", logC.is_open());
+
+		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
+		{
+			std::fstream logNumFile;
+			int logNum;
+			logNumFile.open("/home/lvuser/logNum");
+			logNumFile >> logNum;
+			logNum++;
+			logNumFile.seekp(0);
+			logNumFile << logNum;
+			// writing to /home/lvuser/logs/[unixtime].log
+			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
+			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
+			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
+
+			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
+			for (int ii = 0; ii < 16; ii++)
+			{
+				LOG("pdpChannel " << ii << " current\t");
+			}
+
+			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
+			motors.push_back(&ramp);
+			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
+			motors.push_back(&shooter1);
+			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
+			motors.push_back(&shooter2);
+
+			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
+			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
+			LOG("\tTestStage");
+			LOG(std::endl);
+		}
+		gettimeofday(&tm, NULL);
+		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
+		// Some general information
+		LOG("\t" << pdp.GetVoltage());
+		LOG("\t" << pdp.GetTemperature());
+		LOG("\t" << pdp.GetTotalCurrent());
+		// current on each channel
+		for (int ii = 0; ii < 16; ii++)
+		{
+			LOG("\t" << pdp.GetCurrent(ii));
+		}
+
+		//Talon Data
+		for(int ii = 0; ii < motors.size(); ii++)
+		{
+			LOG("\t" << motors[ii]->GetBusVoltage());
+			LOG("\t" << motors[ii]->GetOutputVoltage());
+			LOG("\t" << motors[ii]->GetOutputCurrent());
+			LOG("\t" << motors[ii]->GetTemperature());
+		}
+		//control data
+		LOG("\t" << driver_stick.GetX());
+		LOG("\t" << driver_stick.GetY());
+		LOG("\t" << driver_stick.GetTwist());
+
+		//DriverStation Data
+		LOG("\t" << DriverStation::GetInstance().GetAlliance());
+		LOG("\t" << DriverStation::GetInstance().GetLocation());
+		LOG("\t" << DriverStation::GetInstance().GetMatchTime());
+		LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
+		LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
+		LOG(std::endl);
+	}
+
+	/**
+	 *	Takes the gross raw throttle input from joystick and returns a 
+	 *	value between 0.0-1.0 (no negative values)
+	 */
+	float SaneThrottle(float rawThrottle)
+	{
+		return ((1.0 - rawThrottle) / 2.0);
+	}
+
+	void UpdateDrive()
+	{
+		float x = -driver_stick.GetX();
+		float y = -driver_stick.GetY();
+		if (x > 0)
+		{
+			float right = y * SaneThrottle(driver_stick.GetThrottle());
+			float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
+			drive.TankDrive(left, right);
+		}
+		else
+		{
+			float left = y * SaneThrottle(driver_stick.GetThrottle());
+			float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
+			drive.TankDrive(left, right);
+		}
+	}
+
 public:
 	Robot():
 		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@@ -60,23 +186,6 @@ public:
 
 	}
 
-private:
-	// instance variables
-	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
-	bool inverting;
-	bool ramping;
-	bool shooting;
-	bool unjamming;
-	bool arming;
-	bool arcade;
-	float shooter_power;
-
-	LiveWindow *lw = LiveWindow::GetInstance();
-	SendableChooser *chooser;
-	const std::string autoNameDefault = "Default";
-	const std::string autoNameCustom = "My Auto";
-	std::string autoSelected;
-
 	void RobotInit()
 	{
 		chooser = new SendableChooser();
@@ -281,118 +390,11 @@ private:
 		}
 	}
 
-	/**
-	 *	Takes the gross raw throttle input from joystick and returns a 
-	 *	value between 0.0-1.0 (no negative values)
-	 */
-	float SaneThrottle(float rawThrottle)
-	{
-		return ((1.0 - rawThrottle) / 2.0);
-	}
-
 	void TestPeriodic()
 	{
 		lw->Run();
 		LogCSVData();
 	}
-	void LogCSVData()
-	{
-		static PowerDistributionPanel pdp;	// preparing to read from the pdp
-		static std::vector<CANTalon*> motors;
-
-		static std::ofstream logA, logB, logC;
-		timeval tm;
-
-		SmartDashboard::PutBoolean("log A", logA.is_open());
-		SmartDashboard::PutBoolean("log B", logB.is_open());
-		SmartDashboard::PutBoolean("log C", logC.is_open());
-
-		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
-		{
-			std::fstream logNumFile;
-			int logNum;
-			logNumFile.open("/home/lvuser/logNum");
-			logNumFile >> logNum;
-			logNum++;
-			logNumFile.seekp(0);
-			logNumFile << logNum;
-			// writing to /home/lvuser/logs/[unixtime].log
-			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
-			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
-			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
-			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
-			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
-			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
-
-			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
-			for (int ii = 0; ii < 16; ii++)
-			{
-				LOG("pdpChannel " << ii << " current\t");
-			}
-
-			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
-			motors.push_back(&ramp);
-			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
-			motors.push_back(&shooter1);
-			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
-			motors.push_back(&shooter2);
-
-			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
-			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
-			LOG("\tTestStage");
-			LOG(std::endl);
-		}
-		gettimeofday(&tm, NULL);
-		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
-		// Some general information
-		LOG("\t" << pdp.GetVoltage());
-		LOG("\t" << pdp.GetTemperature());
-		LOG("\t" << pdp.GetTotalCurrent());
-		// current on each channel
-		for (int ii = 0; ii < 16; ii++)
-		{
-			LOG("\t" << pdp.GetCurrent(ii));
-		}
-
-		//Talon Data
-		for(int ii = 0; ii < motors.size(); ii++)
-		{
-			LOG("\t" << motors[ii]->GetBusVoltage());
-			LOG("\t" << motors[ii]->GetOutputVoltage());
-			LOG("\t" << motors[ii]->GetOutputCurrent());
-			LOG("\t" << motors[ii]->GetTemperature());
-		}
-		//control data
-		LOG("\t" << driver_stick.GetX());
-		LOG("\t" << driver_stick.GetY());
-		LOG("\t" << driver_stick.GetTwist());
-
-		//DriverStation Data
-		LOG("\t" << DriverStation::GetInstance().GetAlliance());
-		LOG("\t" << DriverStation::GetInstance().GetLocation());
-		LOG("\t" << DriverStation::GetInstance().GetMatchTime());
-		LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
-		LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
-		LOG(std::endl);
-	}
-
-	void UpdateDrive()
-	{
-		float x = -driver_stick.GetX();
-		float y = -driver_stick.GetY();
-		if (x > 0)
-		{
-			float right = y * SaneThrottle(driver_stick.GetThrottle());
-			float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
-			drive.TankDrive(left, right);
-		}
-		else
-		{
-			float left = y * SaneThrottle(driver_stick.GetThrottle());
-			float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
-			drive.TankDrive(left, right);
-		}
-	}
 };
 
 START_ROBOT_CLASS(Robot)

From a09be7343a573553704ebba374f39e9dedbf7edf Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 5 Mar 2016 10:31:25 -0500
Subject: [PATCH 25/35] changed ramp power

---
 src/Shooter.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/Shooter.h b/src/Shooter.h
index 5de8a86..8339baf 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -12,6 +12,7 @@
 #define LAUNCH_POWER 1
 #define SPINUP_TIME 1.5 // seconds.
 #define LAUNCH_TIME 0.5
+#define RAMP_POWER 0.3
 
 class Shooter 
 {
@@ -64,7 +65,7 @@ public:
 
 	void LowerRamp()
 	{
-		ramp->Set(-0.5);
+		ramp->Set(-RAMP_POWER);
 		if(ramp->Limits::kReverseLimit){
 			SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
 		} else {
@@ -74,7 +75,7 @@ public:
 
 	void RaiseRamp()
 	{
-		ramp->Set(0.5);
+		ramp->Set(RAMP_POWER);
 		if(ramp->Limits::kForwardLimit){
 			SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
 		} else {

From 609f96e15d4ef2a4c4da777ab37e1b9407e0afc1 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 13:28:49 -0500
Subject: [PATCH 26/35] Update hostname in Makefile, make it slightly more
 verbose

---
 Makefile | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/Makefile b/Makefile
index 99c08a2..36efedf 100644
--- a/Makefile
+++ b/Makefile
@@ -3,8 +3,9 @@ CXX=arm-frc-linux-gnueabi-g++
 override CPPFLAGS +=-std=c++14
 LDFLAGS=-l$(LIBS)
 TEAM=1786
-SSH_OPTIONS=-q -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no
+SSH_OPTIONS=-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no
 SSH_SSHPASS=$(shell command -v sshpass >/dev/null 2>&1 && echo -n "sshpass -p ''")
+SSH_HOST=roborio-1786-frc.local
 
 all: deploy
 
@@ -19,16 +20,16 @@ clean:
 
 deploy: build
 	@echo "Copying FRCUserProgram"
-	@ssh $(SSH_OPTIONS) lvuser@10.17.86.20 'rm -f /home/lvuser/FRCUserProgram'
-	@scp $(SSH_OPTIONS) -o "LogLevel QUIET" FRCUserProgram lvuser@10.17.86.20:/home/lvuser/FRCUserProgram
+	ssh $(SSH_OPTIONS) lvuser@$(SSH_HOST) 'rm -f /home/lvuser/FRCUserProgram'
+	scp $(SSH_OPTIONS) -o "LogLevel QUIET" FRCUserProgram lvuser@$(SSH_HOST):/home/lvuser/FRCUserProgram
 	@echo "Restarting FRCUserProgram"
-	@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
+	$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@$(SSH_HOST) '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
 
 restart: FRCUserProgram
-	@echo "Restarting FRCUserProgram"
-	@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
+	echo "Restarting FRCUserProgram"
+	$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@$(SSH_HOST) '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
 
 stop:
 	@echo "Restarting FRCUserProgram"
-	@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t'y
+	$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@$(SSH_HOST) '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t'y
 

From af2ba558f13b18868e53c503ab2d342f654bfa41 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 13:44:17 -0500
Subject: [PATCH 27/35] Basic auto mode

---
 src/Robot.cpp | 39 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6ea8ff4..d66a28d 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -44,6 +44,7 @@ private:
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
+	Timer auto_clock;
 
 	// instance variables
 	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
@@ -55,6 +56,15 @@ private:
 	bool arcade;
 	float shooter_power;
 
+	enum auto_states
+	{
+		START,
+		DRIVING_FORWARD,
+		STOP
+	};
+
+	auto_states auto_status;
+
 	LiveWindow *lw = LiveWindow::GetInstance();
 	SendableChooser *chooser;
 	const std::string autoNameDefault = "Default";
@@ -218,16 +228,45 @@ public:
 			//Custom Auto goes here
 		} else {
 			//Default Auto goes here
+			auto_status = START;
 		}
 	}
 
 	void AutonomousPeriodic()
 	{
+		const float drivePower = 0.7;
 		LogCSVData();
 		if(autoSelected == autoNameCustom){
 			//Custom Auto goes here
 		} else {
 			//Default Auto goes here
+			switch (auto_status)
+			{
+				case START:
+				{
+					auto_clock.Start();
+					auto_status = DRIVING_FORWARD;
+					break;
+				}
+				case DRIVING_FORWARD:
+				{
+					if (auto_clock.Get() > 5.0 )
+					{
+						drive.TankDrive(0.0, 0.0);
+						auto_status = STOP;
+					}
+					else
+					{
+						drive.TankDrive(drivePower, drivePower);
+					}
+					break;
+				}
+				case STOP:
+				{
+					std::cout << "All done!\n" ;
+					break;
+				}
+			}
 		}
 	}
 

From 8ac21a905809612b66a1bba242825370d7ad7957 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 14:16:42 -0500
Subject: [PATCH 28/35] Add Limits to SmartDashboard

---
 src/Robot.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index d66a28d..6303a61 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -82,6 +82,10 @@ private:
 		SmartDashboard::PutBoolean("log A", logA.is_open());
 		SmartDashboard::PutBoolean("log B", logB.is_open());
 		SmartDashboard::PutBoolean("log C", logC.is_open());
+		SmartDashboard::PutBoolean("Ramp Limit F", ramp.GetForwardLimitOK());
+		SmartDashboard::PutBoolean("Ramp Limit R", ramp.GetReverseLimitOK());
+		SmartDashboard::PutBoolean("Arms Limit F", arms.GetForwardLimitOK());
+		SmartDashboard::PutBoolean("Arms Limit R", arms.GetReverseLimitOK());
 
 		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
 		{

From 9c3a89684cc054aa20b5e5dd9f31afd527293aa5 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 14:28:32 -0500
Subject: [PATCH 29/35] Add real TestPeriodic

---
 src/Robot.cpp | 142 +++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 141 insertions(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6303a61..bcd86dd 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -435,7 +435,147 @@ public:
 
 	void TestPeriodic()
 	{
-		lw->Run();
+		const int driveTime = 5; //Drive for 5 seconds
+		const float drivePower = 0.5, armPower=.35, rampPower=.4; //Arbitrary powers to test at
+		static Timer t;
+		enum test_stages {
+			INIT,
+			ARMS_UP,
+			ARMS_DOWN,
+			RAMP_UP,
+			RAMP_DOWN,
+			DRIVE_FORWARD,
+			DRIVE_BACKWARD,
+			TURN_CW,
+			TURN_CCW,
+			END};
+
+		static enum test_stages test_stage, old_test_stage;
+
+		if (old_test_stage != test_stage)
+		{
+			//Reset timer between stages
+			t.Stop();
+			t.Reset();
+
+			//Wait for a button press between stages
+			if (operator_stick.GetRawButton(TRIGGER))
+				old_test_stage = test_stage;
+		}
+		else
+		{
+			if(!t.Get()) t.Start();
+
+			switch (test_stage)
+			{
+			case INIT:
+			{
+				break;
+			}
+
+			case ARMS_UP:
+			{
+				if (arms.GetForwardLimitOK())
+					arms.Set(1);
+				else
+				{
+					arms.Set(0);
+					test_stage = ARMS_DOWN;
+				}
+				break;
+			}
+
+			case ARMS_DOWN:
+			{
+				if (arms.GetReverseLimitOK())
+					arms.Set(-1);
+				else
+				{
+					arms.Set(0);
+					test_stage = RAMP_UP;
+				}
+				break;
+			}
+
+			case RAMP_UP:
+			{
+				if (arms.GetForwardLimitOK())
+					ramp.Set(1);
+				else
+				{
+					ramp.Set(0);
+					test_stage = RAMP_DOWN;
+				}
+				break;
+			}
+
+			case RAMP_DOWN:
+			{
+				if (arms.GetReverseLimitOK())
+					ramp.Set(-1);
+				else
+				{
+					ramp.Set(0);
+					test_stage = DRIVE_FORWARD;
+				}
+				break;
+			}
+
+			case DRIVE_FORWARD:
+			{
+				if (t.Get() < driveTime)
+					drive.TankDrive(drivePower, drivePower);
+				else
+				{
+					drive.TankDrive(0.0, 0.0);
+					test_stage = DRIVE_BACKWARD;
+				}
+				break;
+			}
+
+			case DRIVE_BACKWARD:
+			{
+				if (t.Get() < driveTime)
+					drive.TankDrive(-drivePower, -drivePower);
+				else
+				{
+					drive.TankDrive(0.0, 0.0);
+					test_stage = TURN_CW;
+				}
+				break;
+			}
+
+			case TURN_CW:
+			{
+				if (t.Get() < driveTime)
+					drive.TankDrive(drivePower, -drivePower);
+				else
+				{
+					drive.TankDrive(0.0, 0.0);
+					test_stage = TURN_CCW;
+				}
+				break;
+			}
+
+			case TURN_CCW:
+			{
+				if (t.Get() < driveTime)
+					drive.TankDrive(-drivePower, drivePower);
+				else
+				{
+					drive.TankDrive(0.0, 0.0);
+					test_stage = END;
+				}
+				break;
+			}
+
+			case END:
+			{
+				break;
+			}
+			}
+		}
+
 		LogCSVData();
 	}
 };

From 5d850477282f54ef30cc7d4937f30e7a93afc392 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 15:55:20 -0500
Subject: [PATCH 30/35] Change drivePower to 1, driveTime to 3 (seconds)

---
 src/Robot.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index bcd86dd..f867ef5 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -238,7 +238,8 @@ public:
 
 	void AutonomousPeriodic()
 	{
-		const float drivePower = 0.7;
+		const float drivePower = 1;
+		const float driveTime = 3; //Seconds to drive forward
 		LogCSVData();
 		if(autoSelected == autoNameCustom){
 			//Custom Auto goes here
@@ -254,7 +255,7 @@ public:
 				}
 				case DRIVING_FORWARD:
 				{
-					if (auto_clock.Get() > 5.0 )
+					if (auto_clock.Get() > driveTime)
 					{
 						drive.TankDrive(0.0, 0.0);
 						auto_status = STOP;

From 5cf6d6ed36c4c419afc4e309625e80a38e496e2c Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sat, 5 Mar 2016 16:43:40 -0500
Subject: [PATCH 31/35] Switch arms movement from buttons to operator_stick Y
 axis

---
 src/Robot.cpp | 35 ++++++-----------------------------
 1 file changed, 6 insertions(+), 29 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index f867ef5..e362cc1 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -19,6 +19,8 @@
 #define RAMP_LOWER  3	// Button 4 to lower ramp.
 #define UNJAM		11
 
+#define ARMS_SCALE  0.75
+
 #define DEADZONE_RADIUS 0.05 	// Deadzone Radius prevents tiny twitches in the joystick's value from
 								// affecting the robot.  Use this for cleaning up drive train and shooter.
 								// Also used for detecting changes in an axis' value.
@@ -389,38 +391,13 @@ public:
 		{
 			inverting = false;
 		}
-		
-		
-		/*
-		 * Unlike the previous actions, this method does need to be called every iteration of
-		 *	TeleopPeriodic.  This is because the logic running this operation needs to be checked
-		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
-		 *  that would lock the robot every time the trigger is hit.
-		 */
-		if(operator_stick.GetRawButton(TRIGGER) || (shooter.GetState() != 0))
+
+		if(operator_stick.GetRawButton(4))
 		{
-			shooting = true;
-			shooter.Shoot();
+			arms.Set(-operator_stick.GetY() * ARMS_SCALE);
 		}
-		else if(shooting  && !operator_stick.GetRawButton(TRIGGER))
+		else
 		{
-			shooting = false;
-			shooter.StopShooter();
-		}
-		
-		if(!arming && driver_stick.GetRawButton(RAMP_RAISE))
-		{
-			arming = true;
-			arms.Set(1);
-		}
-		else if(!arming && driver_stick.GetRawButton(RAMP_LOWER))
-		{
-			arming = true;
-			arms.Set(-1);
-		}
-		else if(arming && !driver_stick.GetRawButton(RAMP_RAISE) && !driver_stick.GetRawButton(RAMP_LOWER))
-		{
-			arming = false;
 			arms.Set(0);
 		}
 

From 623a4022ae87126cdf8e80bd66b76f065a3da0aa Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Sun, 6 Mar 2016 10:01:32 -0500
Subject: [PATCH 32/35] Switch Limit checking code

---
 src/Robot.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index e362cc1..d1f891b 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -84,10 +84,11 @@ private:
 		SmartDashboard::PutBoolean("log A", logA.is_open());
 		SmartDashboard::PutBoolean("log B", logB.is_open());
 		SmartDashboard::PutBoolean("log C", logC.is_open());
-		SmartDashboard::PutBoolean("Ramp Limit F", ramp.GetForwardLimitOK());
-		SmartDashboard::PutBoolean("Ramp Limit R", ramp.GetReverseLimitOK());
-		SmartDashboard::PutBoolean("Arms Limit F", arms.GetForwardLimitOK());
-		SmartDashboard::PutBoolean("Arms Limit R", arms.GetReverseLimitOK());
+
+		SmartDashboard::PutBoolean("Ramp Limit F", !ramp.IsFwdLimitSwitchClosed());
+		SmartDashboard::PutBoolean("Ramp Limit R", !ramp.IsRevLimitSwitchClosed());
+		SmartDashboard::PutBoolean("Arms Limit F", !arms.IsFwdLimitSwitchClosed());
+		SmartDashboard::PutBoolean("Arms Limit R", !arms.IsRevLimitSwitchClosed());
 
 		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
 		{

From 09cbe471a9f4a7604e2f266b326c5b7e5cef1552 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Wed, 9 Mar 2016 19:11:28 -0500
Subject: [PATCH 33/35] Actually use the autonomous chooser

---
 src/Robot.cpp | 79 ++++++++++++++++++++++++++-------------------------
 1 file changed, 40 insertions(+), 39 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index d1f891b..5b80f6a 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -69,8 +69,10 @@ private:
 
 	LiveWindow *lw = LiveWindow::GetInstance();
 	SendableChooser *chooser;
-	const std::string autoNameDefault = "Default";
-	const std::string autoNameCustom = "My Auto";
+	const std::string autoNameDefault = "1.7 Seconds (Slightly Longer)";
+	const std::string autoNameShort = "1.5 Seconds (Short, good on the moat)";
+	const std::string autoNameOne = "1 Seconds";
+	const std::string autoNameDisable = "Disable Autonomous (set time to 0)";
 	std::string autoSelected;
 
 	void LogCSVData()
@@ -206,8 +208,11 @@ public:
 	void RobotInit()
 	{
 		chooser = new SendableChooser();
+
 		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
-		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
+		chooser->AddObject(autoNameShort, (void*)&autoNameShort);
+		chooser->AddObject(autoNameOne, (void*)&autoNameOne);
+		chooser->AddObject(autoNameDisable, (void*)&autoNameDisable);
 		SmartDashboard::PutData("Auto Modes", chooser);
 		shooter1.Enable();
 		shooter2.Enable();
@@ -231,50 +236,46 @@ public:
 		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
 		std::cout << "Auto selected: " << autoSelected << std::endl;
 
-		if(autoSelected == autoNameCustom){
-			//Custom Auto goes here
-		} else {
-			//Default Auto goes here
-			auto_status = START;
-		}
+		auto_status = START;
 	}
 
 	void AutonomousPeriodic()
 	{
 		const float drivePower = 1;
-		const float driveTime = 3; //Seconds to drive forward
+		float driveTime = 1.7;
 		LogCSVData();
-		if(autoSelected == autoNameCustom){
-			//Custom Auto goes here
-		} else {
-			//Default Auto goes here
-			switch (auto_status)
+		if (autoSelected == autoNameDisable) driveTime = 0;
+		else if (autoSelected == autoNameShort) driveTime = 1.5;
+		else if (autoSelected == autoNameOne) driveTime = 1;
+		else driveTime = 1.7;
+
+		//Default Auto goes here
+		switch (auto_status)
+		{
+		case START:
+		{
+			auto_clock.Start();
+			auto_status = DRIVING_FORWARD;
+			break;
+		}
+		case DRIVING_FORWARD:
+		{
+			if (auto_clock.Get() > driveTime)
 			{
-				case START:
-				{
-					auto_clock.Start();
-					auto_status = DRIVING_FORWARD;
-					break;
-				}
-				case DRIVING_FORWARD:
-				{
-					if (auto_clock.Get() > driveTime)
-					{
-						drive.TankDrive(0.0, 0.0);
-						auto_status = STOP;
-					}
-					else
-					{
-						drive.TankDrive(drivePower, drivePower);
-					}
-					break;
-				}
-				case STOP:
-				{
-					std::cout << "All done!\n" ;
-					break;
-				}
+				drive.TankDrive(0.0, 0.0);
+				auto_status = STOP;
 			}
+			else
+			{
+				drive.TankDrive(drivePower, drivePower);
+			}
+			break;
+		}
+		case STOP:
+		{
+			std::cout << "All done!\n" ;
+			break;
+		}
 		}
 	}
 

From 3d076984f506737be02cb4ca3100f52db32c5cbb Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Thu, 10 Mar 2016 08:58:55 -0500
Subject: [PATCH 34/35] Remove extra call to ArcadeDrive that snuck back in

---
 src/Robot.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 5b80f6a..a5a88c5 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -289,7 +289,7 @@ public:
 		LogCSVData();
 		std::cout << "arm encoder position: " << arms.GetEncPosition() << std::endl;
 		std::cout << "arm encoder velocity: " << arms.GetEncVel() << std::endl;
-		drive.ArcadeDrive(-driver_stick.GetY(), -driver_stick.GetX()*0.75);
+
 		if(driver_stick.GetRawButton(7))
 		{
 			arcade = true;

From d115ea3782fcd165789845d550350fcc4b4b3ec3 Mon Sep 17 00:00:00 2001
From: Adam Goldsmith <adam@adamgoldsmith.name>
Date: Thu, 10 Mar 2016 09:04:45 -0500
Subject: [PATCH 35/35] Add gimble control code

Untested, but did previously work
---
 src/Robot.cpp | 36 +++++++++++++++++++++++++++++++++++-
 1 file changed, 35 insertions(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index a5a88c5..6da8c07 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -18,6 +18,13 @@
 #define RAMP_RAISE  5   // Button 3 for Raising Ramp
 #define RAMP_LOWER  3	// Button 4 to lower ramp.
 #define UNJAM		11
+#define GIM_UP		7
+#define GIM_DOWN	9
+#define GIM_ZERO	10
+#define GIM_SHOOT	8
+
+#define GIMB_DEFAULT 768 //Default position of the gimble (*1000)
+#define GIMB_DELTA 2 //Amount to increment by
 
 #define ARMS_SCALE  0.75
 
@@ -47,6 +54,8 @@ private:
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
 	Timer auto_clock;
+	Servo gimbs;
+	int gimba; // angle of the gimble as a value of from 0 to 1000
 
 	// instance variables
 	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
@@ -92,6 +101,8 @@ private:
 		SmartDashboard::PutBoolean("Arms Limit F", !arms.IsFwdLimitSwitchClosed());
 		SmartDashboard::PutBoolean("Arms Limit R", !arms.IsRevLimitSwitchClosed());
 
+		SmartDashboard::PutNumber("angle of camera", gimba);
+
 		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
 		{
 			std::fstream logNumFile;
@@ -200,7 +211,9 @@ public:
 		shooter(				// initialize Shooter object.
 				&shooter1, &shooter2, &ramp),
 		driver_stick(0), 				// right stick (operator)
-		operator_stick(1)			// left stick (driver)
+		operator_stick(1),			// left stick (driver)
+		gimbs(3),
+		gimba(GIMB_DEFAULT)
 	{
 
 	}
@@ -228,6 +241,9 @@ public:
 		shooter_power = 0;
 		arcade = false;
 
+		// Initialize the number so we can get it later
+		SmartDashboard::PutNumber("shooting angle", GIMB_DEFAULT);
+
 	}
 
 	void AutonomousInit()
@@ -277,6 +293,7 @@ public:
 			break;
 		}
 		}
+		gimbs.Set(gimba/1000.0);
 	}
 
 	void TeleopInit()
@@ -359,6 +376,23 @@ public:
 			shooter.PickUp(false);
 			unjamming = false;
 		}
+
+		/*
+		 * This is for controlling the gimbal.
+		 */
+		if(operator_stick.GetRawButton(GIM_UP))
+		{
+	  		gimba += GIMB_DELTA;
+		}
+		else if(operator_stick.GetRawButton(GIM_DOWN)){
+			gimba -= GIMB_DELTA;
+		}
+		else if(operator_stick.GetRawButton(GIM_SHOOT))
+		{
+			gimba = SmartDashboard::GetNumber("shooting angle", GIMB_DEFAULT);
+		}
+		gimbs.Set(gimba/1000.0);
+
 		/*
 		 * 	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