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Made sure shooter power from the throttle will only be used when the throttle is moved. Probably.

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This commit is contained in:
Aidan Ferguson 2016-02-10 18:56:38 -05:00
parent fac8abd43e
commit 38c09abe08
1 changed files with 8 additions and 2 deletions
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10
src/Robot.cpp
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@ -19,6 +19,7 @@ class Robot: public IterativeRobot
RobotDrive drive; RobotDrive drive;
Shooter shooter; Shooter shooter;
Joystick driver_stick, operator_stick; Joystick driver_stick, operator_stick;
float power;
public: public:
Robot(): Robot():
left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@ -100,6 +101,7 @@ private:
{ {
shooter.CalibrateRamp(); shooter.CalibrateRamp();
shooter.SetRamp(Shoot); // start in the full up position! shooter.SetRamp(Shoot); // start in the full up position!
power = 0;
} }
void TeleopPeriodic() void TeleopPeriodic()
@ -143,10 +145,14 @@ private:
inverting = false; inverting = false;
} }
float power = (1.0 - operator_stick.GetThrottle()) / 2.0; if(((1.0 - operator_stick.GetThrottle()) / 2.0) > power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < power -0.005)
shooter.SetPower(power); {
power = (1.0 - operator_stick.GetThrottle()) / 2.0;
shooter.SetPower(power);
}
} }
void TestPeriodic() void TestPeriodic()
{ {
lw->Run(); lw->Run();