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] 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";
 	}