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 01/11] 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 02/11] 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 03/11] 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 04/11] 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 05/11] 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 06/11] 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 07/11] 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 08/11] 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 220862a63e3fec993449a70c41f2066cd77c5ec8 Mon Sep 17 00:00:00 2001
From: dkbug <vtbtkid@gmail.com>
Date: Sat, 20 Feb 2016 15:45:47 -0500
Subject: [PATCH 09/11] 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 10/11] 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 11/11] 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.