From 38c09abe0866b350f51a9e22d1ab3bd032706ce2 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 18:56:38 -0500
Subject: [PATCH] Made sure shooter power from the throttle will only be used
 when the throttle is moved. Probably.

---
 src/Robot.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 05563dd..c7964b8 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -19,6 +19,7 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
+	float power;
 public:
 	Robot():
 		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@@ -100,6 +101,7 @@ private:
 	{
 		shooter.CalibrateRamp();
 		shooter.SetRamp(Shoot); // start in the full up position!
+		power = 0;
 	}
 
 	void TeleopPeriodic()
@@ -143,10 +145,14 @@ private:
 			inverting = false;
 		}
 
-		float power = (1.0 - operator_stick.GetThrottle()) / 2.0;
-		shooter.SetPower(power);
+		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < power -0.005)
+		{
+			power = (1.0 - operator_stick.GetThrottle()) / 2.0;
+			shooter.SetPower(power);
+		}
 	}
 
+
 	void TestPeriodic()
 	{
 		lw->Run();