Merge branch 'shooter' into release

# Conflicts:
#	Robot2016/src/Robot.cpp
#	Robot2016/src/Shooter.h

src/Robot.cpp

@@ -170,12 +170,10 @@ private:
 		{
 			shooter.BoostRamp();
 			ramping = true;
-		}*/
+		}
-		else if(ramping
+		else if(ramping && !operator_stick.GetRawButton(RAMP_RAISE)
-				&& !operator_stick.GetRawButton(RAMP_LOWER)
+				&& !operator_stick.GetRawButton(RAMP_LOWER))
-				&& !operator_stick.GetRawButton(RAMP_RAISE))
 		{
-			std::cout << "Stopping Ramp.";
 			shooter.StopRamp();
 			ramping = false;
 		}
@@ -213,7 +211,6 @@ private:
 			shooter.PickUp(false);
 			pickupRunning = false;
 		}
-
 		/*
 		 *	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.
@@ -234,12 +231,12 @@ private:
 		
 		
 		/*
-		 * 	Unlike the previous actions, this method does need to be called every iteration of
+		 * 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))
+		if(operator_stick.GetRawButton(TRIGGER) || (shooter.GetState() != 0))
 		{
 			shooting = true;
 			shooter.Shoot();

src/Shooter.h

@@ -88,21 +88,18 @@ public:
 	}
 	void Shoot()
 	{
-	// TODO: Shooter Logic should go as follows:
+		if (shotClock.Get() > (SPINUP_TIME + 0.1))
-	
+		{
-	/*
+			state = RESETTING;
-		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.
-	 */
 		switch (state)
 		{
 			case READY:
 			{
 				state = SPINNINGUP;
 				ramp->Set(-1);
-				launcher->Set(PICKUP_POWER);
+				launcher->Set(LAUNCH_POWER);
-				pickup->Set(PICKUP_POWER);
+				pickup->Set(LAUNCH_POWER);
 				shotClock.Reset();
 				shotClock.Start();
 				break;
@@ -116,13 +113,13 @@ public:
 					shotClock.Start();
 				} else
 				{
-					std::cout << "*Goku noises*\n";
+					//std::cout << "*Goku noises*\n";
 				}
 				break;
 			}
 			case LAUNCH:
 			{
-				ramp->Set(1);
+				ramp->Set(LAUNCH_POWER);
 				state = LAUNCHING;
 				break;
 			}
@@ -155,8 +152,7 @@ public:
 	void PickUp(bool state = true) 
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
-		launcher->Set((float) (state * PICKUP_POWER * -0.75));
+		launcher->Set((float) (state * PICKUP_POWER * -1));
-		//ramp->Set(-1.0*PICKUP_POWER);
 		//std::cout << "picking up!\n";
 	}
 
@@ -165,7 +161,7 @@ public:
 	 */
 	void Unjam()
 	{
-		pickup->Set(PICKUP_POWER * -0.75);
+		pickup->Set(-1 * PICKUP_POWER);
 	}
 
 	void ShootLow()
@@ -179,6 +175,11 @@ public:
 		launcher->Set(power);
 		//std::cout << "setting shooter power" << std::endl;
 	}
+
+	int GetState()
+	{
+		return state;
+	}
 private:
 
 	//RobotDrive *shooterDrive;