From f29e21834531cf3701fc2adb4277f32506c548f6 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 14:42:20 -0500
Subject: [PATCH 01/26] removed counter object in preparation for encoder over
 cantalon

---
 src/Robot.cpp | 4 +---
 src/Shooter.h | 6 +-----
 2 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 2cc4f0a..e63ffd9 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -19,16 +19,14 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
-	Counter ramp_height;
 public:
 	Robot():
-		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
+		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
 		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
 		shooter1(10),  			// shooter drive 1
 		shooter2(11),   		// shooter drive 2
 		ramp(12),
 		drive(&left_drive, &right_drive),
-		ramp_height(),
 		shooter(				// initialize Shooter object.
 				&shooter1, &shooter2, &ramp, &ramp_height),
 		driver_stick(0), 				// right stick (operator)
diff --git a/src/Shooter.h b/src/Shooter.h
index 8b7a833..7d498cd 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -34,12 +34,11 @@ public:
 	 * s2 is also for the pickup-mechanism and can be controlled independently.
 	 *
 	 */
-	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r, Counter *h) {
+	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
 		shooterDrive = new RobotDrive(s1, s2);
 		pickup = s2;
 		ramp = r;
 		rampState = Uncalibrated;
-		rampHeight = h;
 	}
 
 	/**
@@ -58,7 +57,6 @@ public:
 		delete shooterDrive;
 		delete pickup;
 		delete ramp;
-		delete rampHeight;
 	}
 
 	void PickUp(bool state = true) {
@@ -77,7 +75,6 @@ public:
 			} else
 			{
 				ramp->Set(0);
-				rampHeight->Reset();
 			}
 		}
 	}
@@ -98,7 +95,6 @@ private:
 	RobotDrive *shooterDrive;
 	CANTalon *pickup;
 	CANTalon *ramp;
-	Counter *rampHeight;
 
 	RampState rampState;
 	RampState targetState;

From f240caf12152bff9b8e277c0b06528d869bf2222 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 14:48:39 -0500
Subject: [PATCH 02/26] missed an instance of the counter

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

diff --git a/src/Robot.cpp b/src/Robot.cpp
index e63ffd9..7d56368 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -52,7 +52,6 @@ private:
 		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
 		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
 		SmartDashboard::PutData("Auto Modes", chooser);
-		ramp_height.SetUpSource(1);
 		ramp.Enable();
 		shooter1.Enable();
 		shooter2.Enable();

From 2abec47ce0dd7889138366f05f959d72da64a8b6 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 14:56:58 -0500
Subject: [PATCH 03/26] bugfix, debug code for encoder.

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

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 7d56368..05563dd 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -28,7 +28,7 @@ public:
 		ramp(12),
 		drive(&left_drive, &right_drive),
 		shooter(				// initialize Shooter object.
-				&shooter1, &shooter2, &ramp, &ramp_height),
+				&shooter1, &shooter2, &ramp),
 		driver_stick(0), 				// right stick (operator)
 		operator_stick(1)				// left stick (driver)
 	{
@@ -104,6 +104,7 @@ private:
 
 	void TeleopPeriodic()
 	{
+		std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
 		//  This is shit code for testing.  Replace it with real code.

From fac8abd43e1df95e73be6e5be5f8aa1e974cf2e2 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 15:23:07 -0500
Subject: [PATCH 04/26] impotent debug code!

---
 src/Shooter.h | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/Shooter.h b/src/Shooter.h
index 7d498cd..7d7d618 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -35,7 +35,8 @@ public:
 	 *
 	 */
 	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
-		shooterDrive = new RobotDrive(s1, s2);
+	//	shooterDrive = new RobotDrive(s1, s2);
+		launcher = s1;
 		pickup = s2;
 		ramp = r;
 		rampState = Uncalibrated;
@@ -54,13 +55,14 @@ public:
 	}
 
 	virtual ~Shooter() {
-		delete shooterDrive;
+		delete launcher;
 		delete pickup;
 		delete ramp;
 	}
 
 	void PickUp(bool state = true) {
 		pickup->Set((float) (state * PICKUP_POWER));
+		std::cout << "picking up!\n";
 	}
 
 	void SetRamp(RampState state) {
@@ -88,11 +90,14 @@ public:
 	}
 
 	void SetPower(float power) {
-		shooterDrive->TankDrive(power, -power, false);
+		pickup->Set(power);
+		launcher->Set(power);
+		std::cout << "setting shooter power" << std::endl;
 	}
 private:
 
 	RobotDrive *shooterDrive;
+	CANTalon *launcher;
 	CANTalon *pickup;
 	CANTalon *ramp;
 

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 05/26] 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();

From 2fa9ebf25482ee43eb79b6009ea244d4b2229a19 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 19:11:51 -0500
Subject: [PATCH 06/26] Switched the shooter controller addresses to reflect
 reality.

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

diff --git a/src/Robot.cpp b/src/Robot.cpp
index c7964b8..4913f17 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -24,8 +24,8 @@ public:
 	Robot():
 		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
 		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
-		shooter1(10),  			// shooter drive 1
-		shooter2(11),   		// shooter drive 2
+		shooter1(11),  			// shooter drive 1
+		shooter2(10),   		// shooter drive 2
 		ramp(12),
 		drive(&left_drive, &right_drive),
 		shooter(				// initialize Shooter object.

From d171b3c8d2a744ccc200012dc1f136528043e31b Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 19:55:20 -0500
Subject: [PATCH 07/26] placeholder for encoder code in Shooter.h

---
 src/Shooter.h | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/src/Shooter.h b/src/Shooter.h
index 7d7d618..83edd21 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -70,13 +70,25 @@ public:
 		// Move the Ramp to the set position.
 		switch (state)
 		{
-		case Shoot:
-			if (ramp->GetForwardLimitOK())
+			case Shoot:
 			{
-				ramp->Set(1);
-			} else
+				if (ramp->GetForwardLimitOK())
+				{
+					ramp->Set(1);
+				} else
+				{
+					ramp->Set(0);
+				}
+			}
+			case Half:
 			{
-				ramp->Set(0);
+				//yeah, put something here when you get the encoder working.
+				std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
+			}
+			case Down:
+			{
+				//see half.
+				std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
 			}
 		}
 	}

From f5e438f15fe2d6abe6064375f5a55d48a0c42800 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Wed, 10 Feb 2016 20:13:33 -0500
Subject: [PATCH 08/26] raised PICKUP_POWER to 0.8

---
 src/Shooter.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Shooter.h b/src/Shooter.h
index 83edd21..ccb3c9b 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -8,7 +8,7 @@
 #ifndef SRC_SHOOTER_H_
 #define SRC_SHOOTER_H_
 
-#define PICKUP_POWER 0.5
+#define PICKUP_POWER 0.8
 #define RAMP_LOWER_DURATION 2 //Rotations.
 
 

From 323627dbb795a000c60d83296cc55db02fcfc7fc Mon Sep 17 00:00:00 2001
From: Dieter Brehm <vtbtkid@gmail.com>
Date: Wed, 10 Feb 2016 21:24:35 -0500
Subject: [PATCH 09/26] Changed todo to reflect lack of ramp.

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

diff --git a/src/Shooter.h b/src/Shooter.h
index ccb3c9b..fe94f43 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -48,8 +48,7 @@ public:
 	 */
 	RampState CalibrateRamp() {
 		// TODO:
-		// Raise ramp until limit switch is triggered,
-		// then lower the ramp to its lower limit.
+		// Ramp no longer exists, replace with more wheels.
 
 		return Down;
 	}

From 08bc03df1c501783039984055244eef0efa236b2 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Thu, 11 Feb 2016 16:18:58 -0500
Subject: [PATCH 10/26] Made shooter_power private instead of global because
 that actually makes sense.

---
 src/Robot.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 4913f17..2e61871 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -19,7 +19,6 @@ 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
@@ -40,6 +39,7 @@ 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;
+	float shooter_power;
 
 	LiveWindow *lw = LiveWindow::GetInstance();
 	SendableChooser *chooser;
@@ -145,10 +145,10 @@ private:
 			inverting = false;
 		}
 
-		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < power -0.005)
+		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > shooter_power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < shooter_power -0.005)
 		{
-			power = (1.0 - operator_stick.GetThrottle()) / 2.0;
-			shooter.SetPower(power);
+			shooter_power = (1.0 - operator_stick.GetThrottle()) / 2.0;
+			shooter.SetPower(shooter_power);
 		}
 	}
 

From 9ce495f073f0ad9eae3528e6dd58ee93dec814f9 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Thu, 11 Feb 2016 16:51:13 -0500
Subject: [PATCH 11/26] purged the concept of a ramp

---
 src/Robot.cpp |  9 ++------
 src/Shooter.h | 64 ++++-----------------------------------------------
 2 files changed, 6 insertions(+), 67 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 2e61871..a4073cb 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -53,12 +53,12 @@ private:
 		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
 		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
 		SmartDashboard::PutData("Auto Modes", chooser);
-		ramp.Enable();
 		shooter1.Enable();
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
 		inverting = false;
+		shooter_power = 0;
 
 	}
 
@@ -74,9 +74,6 @@ private:
 	 */
 	void AutonomousInit()
 	{
-		shooter.CalibrateRamp();
-		shooter.SetRamp(Shoot);
-
 		autoSelected = *((std::string*)chooser->GetSelected());
 		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
 		std::cout << "Auto selected: " << autoSelected << std::endl;
@@ -99,9 +96,7 @@ private:
 
 	void TeleopInit()
 	{
-		shooter.CalibrateRamp();
-		shooter.SetRamp(Shoot); // start in the full up position!
-		power = 0;
+
 	}
 
 	void TeleopPeriodic()
diff --git a/src/Shooter.h b/src/Shooter.h
index fe94f43..2486d8a 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -9,28 +9,11 @@
 #define SRC_SHOOTER_H_
 
 #define PICKUP_POWER 0.8
-#define RAMP_LOWER_DURATION 2 //Rotations.
-
-
-/**
- * You can use the values assigned to each of these values as the number
- * of rotations to run the motor down from the "Shoot" position.
- *
- * This might not be the best way to do it, and also requires that we
- * figure out how to read the Hall Effect signal from the motor.
- */
-enum RampState {
-	Shoot = 0, // 0 rotations
-	Half = (RAMP_LOWER_DURATION / 2),  // 1 rotation?
-	Down = RAMP_LOWER_DURATION,   // 2 rotations?
-	Uncalibrated = -1,
-	Transitioning = -2
-};
 
 class Shooter {
 public:
 	/**
-	 * Shooter talons and ramp talon.
+	 * Shooter talons and launch-spinny talon.
 	 * s2 is also for the pickup-mechanism and can be controlled independently.
 	 *
 	 */
@@ -38,25 +21,18 @@ public:
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
-		ramp = r;
-		rampState = Uncalibrated;
+		launch_spinny = r;
 	}
 
 	/**
 	 * Call this method on TeleopInit so that the ramp is properly
 	 * set at the beginning of the match.
 	 */
-	RampState CalibrateRamp() {
-		// TODO:
-		// Ramp no longer exists, replace with more wheels.
-
-		return Down;
-	}
 
 	virtual ~Shooter() {
 		delete launcher;
 		delete pickup;
-		delete ramp;
+		delete launch_spinny;
 	}
 
 	void PickUp(bool state = true) {
@@ -64,34 +40,6 @@ public:
 		std::cout << "picking up!\n";
 	}
 
-	void SetRamp(RampState state) {
-		// TODO:
-		// Move the Ramp to the set position.
-		switch (state)
-		{
-			case Shoot:
-			{
-				if (ramp->GetForwardLimitOK())
-				{
-					ramp->Set(1);
-				} else
-				{
-					ramp->Set(0);
-				}
-			}
-			case Half:
-			{
-				//yeah, put something here when you get the encoder working.
-				std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
-			}
-			case Down:
-			{
-				//see half.
-				std::cout << "Hey! Didja install an encoder? Because this is placeholder that Aidan would have removed if you had installed one and told him about it.\n";
-			}
-		}
-	}
-
 	/**
 	 * Call this to run the pickup backwards if the ball gets jammed somehow...
 	 */
@@ -110,11 +58,7 @@ private:
 	RobotDrive *shooterDrive;
 	CANTalon *launcher;
 	CANTalon *pickup;
-	CANTalon *ramp;
-
-	RampState rampState;
-	RampState targetState;
-	RampState previousState;
+	CANTalon *launch_spinny;
 };
 
 #endif /* SRC_SHOOTER_H_ */

From 71b8e5eeff89bd93199955c468a9890df9ffa0ed Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Thu, 11 Feb 2016 17:17:42 -0500
Subject: [PATCH 12/26] launch spinny does stuff

---
 src/Robot.cpp | 14 +++++++-------
 src/Shooter.h |  3 ++-
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index a4073cb..3111ca2 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -15,7 +15,7 @@ class Robot: public IterativeRobot
 {
 	Talon left_drive, right_drive;
 	CANTalon shooter1, shooter2,
-			ramp;
+			launch_spinny;
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
@@ -25,10 +25,10 @@ public:
 		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
 		shooter1(11),  			// shooter drive 1
 		shooter2(10),   		// shooter drive 2
-		ramp(12),
+		launch_spinny(12),
 		drive(&left_drive, &right_drive),
 		shooter(				// initialize Shooter object.
-				&shooter1, &shooter2, &ramp),
+				&shooter1, &shooter2, &launch_spinny),
 		driver_stick(0), 				// right stick (operator)
 		operator_stick(1)				// left stick (driver)
 	{
@@ -101,21 +101,21 @@ private:
 
 	void TeleopPeriodic()
 	{
-		std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
+		std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
 		//  This is shit code for testing.  Replace it with real code.
 		if(operator_stick.GetRawButton(RAMP_RAISE))
 		{
-			ramp.Set(1);
+			launch_spinny.Set(1);
 		}
 		else if(operator_stick.GetRawButton(RAMP_LOWER))
 		{
-			ramp.Set(-1);
+			launch_spinny.Set(-1);
 		}
 		else
 		{
-			ramp.Set(0);
+			launch_spinny.Set(0);
 		}
 
 		if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
diff --git a/src/Shooter.h b/src/Shooter.h
index 2486d8a..f63bdf1 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -8,7 +8,7 @@
 #ifndef SRC_SHOOTER_H_
 #define SRC_SHOOTER_H_
 
-#define PICKUP_POWER 0.8
+#define PICKUP_POWER 1.0
 
 class Shooter {
 public:
@@ -37,6 +37,7 @@ public:
 
 	void PickUp(bool state = true) {
 		pickup->Set((float) (state * PICKUP_POWER));
+		launch_spinny->Set(-1.0*PICKUP_POWER);
 		std::cout << "picking up!\n";
 	}
 

From 86e7e2e3beb9935fc50aaf44b5bbe1268aff19e3 Mon Sep 17 00:00:00 2001
From: Jason <jason@dublinschool.org>
Date: Thu, 11 Feb 2016 20:40:41 -0500
Subject: [PATCH 13/26] Added comments about the use of the boolean variables
 in the TeleopPeriodic method

---
 src/Robot.cpp | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 3111ca2..8e4b800 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -118,6 +118,13 @@ private:
 			launch_spinny.Set(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
+		 *	every itteration 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.
+		 */
 		if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
 		{
 			shooter.PickUp();
@@ -129,6 +136,12 @@ private:
 			pickupRunning = false;
 		}
 
+		/*
+		 *	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.
+		 *	This is important because the TeleopPeriodic method executes something like once every 10ms.
+		 *	Thus, this if-else if pair make the button a toggle.
+		 */
 		if(driver_stick.GetRawButton(THUMB) && !inverting)
 		{
 			left_drive.SetInverted(!left_drive.GetInverted());
@@ -140,7 +153,10 @@ private:
 			inverting = false;
 		}
 
-		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > shooter_power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < shooter_power -0.005)
+		
+		
+		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > shooter_power + 0.005
+				||	((1.0 - operator_stick.GetThrottle()) / 2.0) < shooter_power -0.005)
 		{
 			shooter_power = (1.0 - operator_stick.GetThrottle()) / 2.0;
 			shooter.SetPower(shooter_power);

From c083f6cd1018708cfd568b3f39d7f8848dcf72d6 Mon Sep 17 00:00:00 2001
From: Jason <jason@dublinschool.org>
Date: Thu, 11 Feb 2016 20:48:03 -0500
Subject: [PATCH 14/26] Added a define for DEADZONE_RADIUS and implemented it
 in the shooter power setting within TeleopPeriodic.

---
 src/Robot.cpp | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 8e4b800..36cef0c 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -9,6 +9,10 @@
 #define RAMP_RAISE  3   // Button 3 for Raising Ramp
 #define RAMP_LOWER  4	// Button 4 to lower ramp.
 
+#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.
+
 #endif  // BUTTON_LAYOUT
 
 class Robot: public IterativeRobot
@@ -153,16 +157,23 @@ private:
 			inverting = false;
 		}
 
+		float opThrottle = SaneThrottle(operator_stick.GetThrottle());
 		
-		
-		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > shooter_power + 0.005
-				||	((1.0 - operator_stick.GetThrottle()) / 2.0) < shooter_power -0.005)
+		if( opThrottle > shooter_power + DEADZONE_RADIUS
+				||	opThrottle < shooter_power - DEADZONE_RADIUS)
 		{
-			shooter_power = (1.0 - operator_stick.GetThrottle()) / 2.0;
-			shooter.SetPower(shooter_power);
+			shooter.SetPower(opThrottle);
 		}
 	}
 
+	/**
+	 *	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()
 	{

From 83cbc89a0fc17cfcc611853417b16550ffd1fa21 Mon Sep 17 00:00:00 2001
From: Jason <jason@dublinschool.org>
Date: Thu, 11 Feb 2016 21:24:32 -0500
Subject: [PATCH 15/26] Added comments and info for the shooter logic.  I
 emailed you a flow chart also...

---
 src/Robot.cpp | 20 +++++++++++++++++++-
 src/Shooter.h | 45 ++++++++++++++++++++++++++++++++++++++-------
 2 files changed, 57 insertions(+), 8 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 36cef0c..6de81fa 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -62,6 +62,7 @@ private:
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
 		inverting = false;
+		pickupRunning = false;
 		shooter_power = 0;
 
 	}
@@ -156,7 +157,24 @@ private:
 		{
 			inverting = false;
 		}
-
+		
+		
+		/*
+		 * 	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.
+		 */
+		if(operator_stick.GetRawButton(TRIGGER))
+		{
+			shooter.Shoot();
+		}
+		else
+		{
+			shooter.StopShooter();
+		}
+		
+        // This code will become obsolete after the Shooter logic is complete.
 		float opThrottle = SaneThrottle(operator_stick.GetThrottle());
 		
 		if( opThrottle > shooter_power + DEADZONE_RADIUS
diff --git a/src/Shooter.h b/src/Shooter.h
index f63bdf1..22e2eb8 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -10,18 +10,23 @@
 
 #define PICKUP_POWER 1.0
 
-class Shooter {
+class Shooter 
+{
 public:
+
 	/**
 	 * Shooter talons and launch-spinny talon.
 	 * s2 is also for the pickup-mechanism and can be controlled independently.
 	 *
 	 */
-	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
+	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) 
+	{
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
 		launch_spinny = r;
+		ready = true;
+		shotClock = Timer();
 	}
 
 	/**
@@ -29,13 +34,35 @@ public:
 	 * set at the beginning of the match.
 	 */
 
-	virtual ~Shooter() {
+	virtual ~Shooter() 
+	{
 		delete launcher;
 		delete pickup;
 		delete launch_spinny;
 	}
-
-	void PickUp(bool state = true) {
+	
+	void StopShooter()
+	{
+		ready = true;
+		launch_spinny.Set(0);
+		launcher.Set(0);
+		pickup.Set(0);
+	}
+	
+	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.
+	 */
+		
+	}
+	
+	void PickUp(bool state = true) 
+	{
 		pickup->Set((float) (state * PICKUP_POWER));
 		launch_spinny->Set(-1.0*PICKUP_POWER);
 		std::cout << "picking up!\n";
@@ -49,17 +76,21 @@ public:
 		pickup->Set(-1 * PICKUP_POWER);
 	}
 
-	void SetPower(float power) {
+	void SetPower(float power) 
+	{
 		pickup->Set(power);
 		launcher->Set(power);
 		std::cout << "setting shooter power" << std::endl;
 	}
 private:
 
-	RobotDrive *shooterDrive;
+	//RobotDrive *shooterDrive;
 	CANTalon *launcher;
 	CANTalon *pickup;
 	CANTalon *launch_spinny;
+	
+	Timer shotClock;
+	bool ready;
 };
 
 #endif /* SRC_SHOOTER_H_ */

From 91acd20f7dc1a1a96cfede4065857b8b9d265379 Mon Sep 17 00:00:00 2001
From: Jason <jason@dublinschool.org>
Date: Thu, 11 Feb 2016 22:26:11 -0500
Subject: [PATCH 16/26] added SPINUP_TIME define for the shotClock Timer. 
 Adjust the value of this define to wait longer before shooting the ball into
 the launch wheel.

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

diff --git a/src/Shooter.h b/src/Shooter.h
index 22e2eb8..f9892bd 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -9,6 +9,7 @@
 #define SRC_SHOOTER_H_
 
 #define PICKUP_POWER 1.0
+#define SPINUP_TIME 1.5 // seconds.
 
 class Shooter 
 {
@@ -89,7 +90,7 @@ private:
 	CANTalon *pickup;
 	CANTalon *launch_spinny;
 	
-	Timer shotClock;
+	Timer shotClock;  
 	bool ready;
 };
 

From e061b741cbc5528aa265f7279aca8962449cf376 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Fri, 12 Feb 2016 19:37:36 -0500
Subject: [PATCH 17/26] ramp reinstated

---
 src/Robot.cpp | 12 ++++++++++--
 src/Shooter.h | 23 +++++++++++++++++++----
 2 files changed, 29 insertions(+), 6 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6de81fa..8826677 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -112,17 +112,25 @@ private:
 		//  This is shit code for testing.  Replace it with real code.
 		if(operator_stick.GetRawButton(RAMP_RAISE))
 		{
-			launch_spinny.Set(1);
+			//launch_spinny.Set(1);
+			shooter.RaiseRamp();
 		}
 		else if(operator_stick.GetRawButton(RAMP_LOWER))
 		{
-			launch_spinny.Set(-1);
+			//launch_spinny.Set(-1);
+			shooter.LowerRamp();
+		}
+		else if(operator_stick.GetRawButton(TRIGGER))
+		{
+			shooter.BoostRamp();
 		}
 		else
 		{
 			launch_spinny.Set(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
diff --git a/src/Shooter.h b/src/Shooter.h
index f9892bd..b273940 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -45,9 +45,24 @@ public:
 	void StopShooter()
 	{
 		ready = true;
-		launch_spinny.Set(0);
-		launcher.Set(0);
-		pickup.Set(0);
+		launch_spinny->Set(0);
+		launcher->Set(0);
+		pickup->Set(0);
+	}
+
+	void LowerRamp()
+	{
+		launch_spinny->Set(-0.1);
+	}
+
+	void RaiseRamp()
+	{
+		launch_spinny->Set(0.1);
+	}
+
+	void BoostRamp()
+	{
+		launch_spinny->Set(0.5);
 	}
 	
 	void Shoot()
@@ -65,7 +80,7 @@ public:
 	void PickUp(bool state = true) 
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
-		launch_spinny->Set(-1.0*PICKUP_POWER);
+		//launch_spinny->Set(-1.0*PICKUP_POWER);
 		std::cout << "picking up!\n";
 	}
 

From 63f3c48267cd05926d35c98aa18ee9250d5b2df1 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Fri, 12 Feb 2016 21:17:45 -0500
Subject: [PATCH 18/26] Fixed a bunch of logic errors.

---
 src/Robot.cpp | 7 ++++---
 src/Shooter.h | 5 ++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 8826677..6ec1e54 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -61,6 +61,7 @@ private:
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
+		launch_spinny.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
 		shooter_power = 0;
@@ -143,7 +144,7 @@ private:
 			shooter.PickUp();
 			pickupRunning = true;
 		}
-		else if(pickupRunning)
+		else if(!operator_stick.GetRawButton(THUMB) && pickupRunning)
 		{
 			shooter.PickUp(false);
 			pickupRunning = false;
@@ -185,8 +186,8 @@ private:
         // This code will become obsolete after the Shooter logic is complete.
 		float opThrottle = SaneThrottle(operator_stick.GetThrottle());
 		
-		if( opThrottle > shooter_power + DEADZONE_RADIUS
-				||	opThrottle < shooter_power - DEADZONE_RADIUS)
+		if(!pickupRunning && ( opThrottle > shooter_power + DEADZONE_RADIUS
+				||	opThrottle < shooter_power - DEADZONE_RADIUS))
 		{
 			shooter.SetPower(opThrottle);
 		}
diff --git a/src/Shooter.h b/src/Shooter.h
index b273940..7b4705d 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -27,7 +27,6 @@ public:
 		pickup = s2;
 		launch_spinny = r;
 		ready = true;
-		shotClock = Timer();
 	}
 
 	/**
@@ -52,12 +51,12 @@ public:
 
 	void LowerRamp()
 	{
-		launch_spinny->Set(-0.1);
+		launch_spinny->Set(-0.25);
 	}
 
 	void RaiseRamp()
 	{
-		launch_spinny->Set(0.1);
+		launch_spinny->Set(0.25);
 	}
 
 	void BoostRamp()

From ae2dfe00471a67b515bb2462963798a52d257f98 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Sat, 13 Feb 2016 11:12:20 -0500
Subject: [PATCH 19/26] Fixed some really bad logic in the shooter...

---
 src/Robot.cpp | 24 +++++++++++++++++-------
 src/Shooter.h | 11 ++++++++---
 2 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6ec1e54..6dd945d 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -43,6 +43,8 @@ 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;
 	float shooter_power;
 
 	LiveWindow *lw = LiveWindow::GetInstance();
@@ -61,9 +63,11 @@ private:
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
-		launch_spinny.SetInverted(true);
+		//launch_spinny.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
+		ramping = false;
+		shooting = false;
 		shooter_power = 0;
 
 	}
@@ -110,22 +114,26 @@ private:
 		std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
+		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
-		if(operator_stick.GetRawButton(RAMP_RAISE))
+		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			//launch_spinny.Set(1);
 			shooter.RaiseRamp();
+			ramping =true;
 		}
-		else if(operator_stick.GetRawButton(RAMP_LOWER))
+		else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			//launch_spinny.Set(-1);
 			shooter.LowerRamp();
+			ramping = true;
 		}
-		else if(operator_stick.GetRawButton(TRIGGER))
+		else if(!ramping && operator_stick.GetRawButton(TRIGGER))
 		{
 			shooter.BoostRamp();
+			ramping = true;
 		}
-		else
+		else if(ramping)
 		{
 			launch_spinny.Set(0);
 		}
@@ -174,12 +182,14 @@ 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) && !shooting)
 		{
+			shooting = true;
 			shooter.Shoot();
 		}
-		else
+		else if(shooting)
 		{
+			shooting = false;
 			shooter.StopShooter();
 		}
 		
diff --git a/src/Shooter.h b/src/Shooter.h
index 7b4705d..8dbdc57 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -51,17 +51,22 @@ public:
 
 	void LowerRamp()
 	{
-		launch_spinny->Set(-0.25);
+		launch_spinny->Set(-1);
 	}
 
 	void RaiseRamp()
 	{
-		launch_spinny->Set(0.25);
+		launch_spinny->Set(1);
+	}
+
+	void StopRamp()
+	{
+		launch_spinny->Set(0);
 	}
 
 	void BoostRamp()
 	{
-		launch_spinny->Set(0.5);
+		launch_spinny->Set(1);
 	}
 	
 	void Shoot()

From bf3c89bd6e3f944ec394ad86d4038ee4bdece2b3 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Sat, 13 Feb 2016 11:26:07 -0500
Subject: [PATCH 20/26] Now has Sane pickup logic~

---
 src/Robot.cpp | 14 +++++++++-----
 src/Shooter.h |  3 ++-
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6dd945d..7688ac4 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -9,7 +9,7 @@
 #define RAMP_RAISE  3   // Button 3 for Raising Ramp
 #define RAMP_LOWER  4	// Button 4 to lower ramp.
 
-#define DEADZONE_RADIUS 0.05 	// Deadzone Radius prevents tiny twitches in the joystick's value from	
+#define DEADZONE_RADIUS 0.01 	// 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.
 
@@ -118,24 +118,28 @@ private:
 		//  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))
 		{
+			std::cout << "Lowering Ramp.";
 			//launch_spinny.Set(-1);
 			shooter.LowerRamp();
 			ramping = true;
 		}
-		else if(!ramping && operator_stick.GetRawButton(TRIGGER))
+		/*else if(!ramping && operator_stick.GetRawButton(TRIGGER))
 		{
 			shooter.BoostRamp();
 			ramping = true;
-		}
+		}*/
 		else if(ramping)
 		{
-			launch_spinny.Set(0);
+			std::cout << "Stopping Ramp.";
+			shooter.StopRamp();
+			ramping = false;
 		}
 
 
@@ -182,7 +186,7 @@ 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) && !shooting)
+		if(operator_stick.GetRawButton(TRIGGER))
 		{
 			shooting = true;
 			shooter.Shoot();
diff --git a/src/Shooter.h b/src/Shooter.h
index 8dbdc57..a388f33 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -8,7 +8,7 @@
 #ifndef SRC_SHOOTER_H_
 #define SRC_SHOOTER_H_
 
-#define PICKUP_POWER 1.0
+#define PICKUP_POWER 0.5
 #define SPINUP_TIME 1.5 // seconds.
 
 class Shooter 
@@ -84,6 +84,7 @@ public:
 	void PickUp(bool state = true) 
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
+		launcher->Set((float) (state * PICKUP_POWER * -1));
 		//launch_spinny->Set(-1.0*PICKUP_POWER);
 		std::cout << "picking up!\n";
 	}

From c64916128334f3ae38f0ee550c86fab39ae485eb Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Sat, 13 Feb 2016 12:00:28 -0500
Subject: [PATCH 21/26] some more bug fixes.

---
 src/Robot.cpp | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 7688ac4..b356e3d 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -8,6 +8,7 @@
 #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 UNJAM		11
 
 #define DEADZONE_RADIUS 0.01 	// Deadzone Radius prevents tiny twitches in the joystick's value from
 								// affecting the robot.  Use this for cleaning up drive train and shooter.
@@ -45,6 +46,7 @@ private:
 	bool inverting;
 	bool ramping;
 	bool shooting;
+	bool unjamming;
 	float shooter_power;
 
 	LiveWindow *lw = LiveWindow::GetInstance();
@@ -68,6 +70,7 @@ private:
 		pickupRunning = false;
 		ramping = false;
 		shooting = false;
+		unjamming = false;
 		shooter_power = 0;
 
 	}
@@ -135,7 +138,9 @@ private:
 			shooter.BoostRamp();
 			ramping = true;
 		}*/
-		else if(ramping)
+		else if(ramping
+				&& !operator_stick.GetRawButton(RAMP_LOWER)
+				&& !operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			std::cout << "Stopping Ramp.";
 			shooter.StopRamp();
@@ -143,6 +148,17 @@ private:
 		}
 
 
+		if(!unjamming && operator_stick.GetRawButton(UNJAM))
+		{
+			unjamming = true;
+			shooter.Unjam();
+		}
+		else if(unjamming && !operator_stick.GetRawButton(UNJAM))
+		{
+			shooter.PickUp(false);
+			unjamming = false;
+		}
+
 
 		/*
 		 * 	Run the Shooter only while the THUMB button is held down on the operator stick.
@@ -191,7 +207,7 @@ private:
 			shooting = true;
 			shooter.Shoot();
 		}
-		else if(shooting)
+		else if(shooting  && !operator_stick.GetRawButton(TRIGGER))
 		{
 			shooting = false;
 			shooter.StopShooter();

From 21138d6bc6f5372f50ed863d2b1ae534c963e821 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Sat, 13 Feb 2016 12:09:08 -0500
Subject: [PATCH 22/26] removed old debug statements

---
 src/Robot.cpp | 3 ++-
 src/Shooter.h | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index b356e3d..cab8ba8 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -114,7 +114,7 @@ private:
 
 	void TeleopPeriodic()
 	{
-		std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
+		//std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
 		//bool rampDoing = false;
@@ -186,6 +186,7 @@ private:
 		 */
 		if(driver_stick.GetRawButton(THUMB) && !inverting)
 		{
+			std::cout << "Inverting Drive Train.";
 			left_drive.SetInverted(!left_drive.GetInverted());
 			right_drive.SetInverted(!right_drive.GetInverted());
 			inverting = true;
diff --git a/src/Shooter.h b/src/Shooter.h
index a388f33..2ec7e5f 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -86,7 +86,7 @@ public:
 		pickup->Set((float) (state * PICKUP_POWER));
 		launcher->Set((float) (state * PICKUP_POWER * -1));
 		//launch_spinny->Set(-1.0*PICKUP_POWER);
-		std::cout << "picking up!\n";
+		//std::cout << "picking up!\n";
 	}
 
 	/**
@@ -101,7 +101,7 @@ public:
 	{
 		pickup->Set(power);
 		launcher->Set(power);
-		std::cout << "setting shooter power" << std::endl;
+		//std::cout << "setting shooter power" << std::endl;
 	}
 private:
 

From 9e14cfd2463d2a734314a59dd57e2270eb40b094 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 13 Feb 2016 16:40:07 -0500
Subject: [PATCH 23/26] enum ShooterState, starts of associated switch, etc.

---
 src/Robot.cpp |  6 +++++-
 src/Shooter.h | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++-
 2 files changed, 61 insertions(+), 2 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index cab8ba8..86b0612 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -35,7 +35,7 @@ public:
 		shooter(				// initialize Shooter object.
 				&shooter1, &shooter2, &launch_spinny),
 		driver_stick(0), 				// right stick (operator)
-		operator_stick(1)				// left stick (driver)
+		operator_stick(1)			// left stick (driver)
 	{
 
 	}
@@ -117,6 +117,10 @@ private:
 		//std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
+		if (operator_stick.GetRawButton(TRIGGER))
+		{
+
+		}
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
 		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
diff --git a/src/Shooter.h b/src/Shooter.h
index 2ec7e5f..aeeab87 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -9,7 +9,9 @@
 #define SRC_SHOOTER_H_
 
 #define PICKUP_POWER 0.5
+#define LAUNCH_POWER 1
 #define SPINUP_TIME 1.5 // seconds.
+#define LAUNCH_TIME 0.5
 
 class Shooter 
 {
@@ -20,13 +22,24 @@ public:
 	 * s2 is also for the pickup-mechanism and can be controlled independently.
 	 *
 	 */
-	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) 
+	enum ShooterState
+	{
+		READY,
+		ON_FIRE,
+		SPINNINGUP,
+		LAUNCH,
+		LAUNCHING,
+		RESETTING
+	};
+
+	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r)
 	{
 	//	shooterDrive = new RobotDrive(s1, s2);
 		launcher = s1;
 		pickup = s2;
 		launch_spinny = r;
 		ready = true;
+		state = READY;
 	}
 
 	/**
@@ -78,6 +91,47 @@ public:
 		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;
+				launch_spinny->Set(-1);
+				launcher->Set(PICKUP_POWER);
+				pickup->Set(PICKUP_POWER);
+				shotClock.Reset();
+				shotClock.Start();
+				break;
+			}
+			case SPINNINGUP:
+			{
+				if (shotClock.Get() > SPINUP_TIME)
+				{
+					state = LAUNCH;
+					shotClock.Reset();
+					shotClock.Start();
+				} else
+				{
+					std::cout << "*Goku noises*\n";
+				}
+				break;
+			}
+			case LAUNCH:
+			{
+				launch_spinny->Set(1);
+				state = LAUNCHING;
+				break;
+			}
+			case LAUNCHING:
+			{
+				if (shotClock.Get() > LAUNCH_TIME)
+				{
+
+					state = RESETTING;
+				}
+				break;
+			}
+		}
 		
 	}
 	
@@ -109,6 +163,7 @@ private:
 	CANTalon *launcher;
 	CANTalon *pickup;
 	CANTalon *launch_spinny;
+	ShooterState state;
 	
 	Timer shotClock;  
 	bool ready;

From 0644b08316ac69b84d240fec2ac48dc92416317d Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Sat, 13 Feb 2016 16:46:09 -0500
Subject: [PATCH 24/26] removed a redundant if statement because I'm a doofus.

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

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 86b0612..1af8deb 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -117,10 +117,6 @@ private:
 		//std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
-		if (operator_stick.GetRawButton(TRIGGER))
-		{
-
-		}
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
 		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))

From dedcbe4bf7178d86e24df4387695e503353f9d45 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Mon, 15 Feb 2016 15:14:20 -0500
Subject: [PATCH 25/26] Finished shooter switch.

---
 src/Shooter.h | 21 +++++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/src/Shooter.h b/src/Shooter.h
index aeeab87..a8469b7 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -96,9 +96,9 @@ public:
 			case READY:
 			{
 				state = SPINNINGUP;
-				launch_spinny->Set(-1);
-				launcher->Set(PICKUP_POWER);
-				pickup->Set(PICKUP_POWER);
+				launch_spinny->Set(0);
+				launcher->Set(LAUNCH_POWER);
+				pickup->Set(LAUNCH_POWER);
 				shotClock.Reset();
 				shotClock.Start();
 				break;
@@ -118,7 +118,7 @@ public:
 			}
 			case LAUNCH:
 			{
-				launch_spinny->Set(1);
+				launch_spinny->Set(LAUNCH_POWER);
 				state = LAUNCHING;
 				break;
 			}
@@ -131,6 +131,19 @@ public:
 				}
 				break;
 			}
+			case RESETTING:
+			{
+				launch_spinny->Set(0);
+				launcher->Set(0);
+				pickup->Set(0);
+				state = READY;
+				break;
+			}
+			case ON_FIRE:
+			{
+				std::cout << "Something is wrong with the launch sequence.\n";
+				break;
+			}
 		}
 		
 	}

From 043707478d97497cc986677853d0b963975a10e5 Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Mon, 15 Feb 2016 20:14:48 -0500
Subject: [PATCH 26/26] fixed a typo

---
 src/Shooter.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Shooter.h b/src/Shooter.h
index a8469b7..c8980f5 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -96,7 +96,7 @@ public:
 			case READY:
 			{
 				state = SPINNINGUP;
-				launch_spinny->Set(0);
+				launch_spinny->Set(-1);
 				launcher->Set(LAUNCH_POWER);
 				pickup->Set(LAUNCH_POWER);
 				shotClock.Reset();