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launch spinny does stuff

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This commit is contained in:
Aidan Ferguson 2016-02-11 17:17:42 -05:00
parent 9ce495f073
commit 71b8e5eeff
2 changed files with 9 additions and 8 deletions
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14
src/Robot.cpp
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@ -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)

3
src/Shooter.h
View File

@ -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";
}