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Fixed a bunch of logic errors.

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This commit is contained in:
Jason Cox 2016-02-12 21:17:45 -05:00
parent e061b741cb
commit 63f3c48267
2 changed files with 6 additions and 6 deletions
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7
src/Robot.cpp
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@ -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);
}

5
src/Shooter.h
View File

@ -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()