From 71bdaab9bb7b41c9ff59792638a9e298e62a0a8e Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Tue, 9 Feb 2016 17:22:17 -0500
Subject: [PATCH] Added some comments and sanity to the new robot project.

---
 .project      |  1 +
 src/Robot.cpp | 26 ++++++++++++++++++--------
 2 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/.project b/.project
index a419617..69c1953 100644
--- a/.project
+++ b/.project
@@ -7,6 +7,7 @@
 	<buildSpec>
 		<buildCommand>
 			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
 			<arguments>
 			</arguments>
 		</buildCommand>
diff --git a/src/Robot.cpp b/src/Robot.cpp
index a2093bc..224e2f4 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -1,11 +1,13 @@
-#include "../wpilib/WPILib.h"
+#include "WPILib.h"
 #include "Shooter.h"
 
 #ifndef BUTTON_LAYOUT
 #define BUTTON_LAYOUT
 
-#define TRIGGER 1  // I have no idea what the right button number is...
-#define THUMB 2
+#define TRIGGER 	1  	// Trigger button number
+#define THUMB 		2	// Thumb button number
+#define RAMP_RAISE  3   // Button 3 for Raising Ramp
+#define RAMP_LOWER  4	// Button 4 to lower ramp.
 
 #endif  // BUTTON_LAYOUT
 
@@ -36,6 +38,9 @@ public:
 	}
 
 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.
+
 	LiveWindow *lw = LiveWindow::GetInstance();
 	SendableChooser *chooser;
 	const std::string autoNameDefault = "Default";
@@ -62,6 +67,8 @@ private:
 	 */
 	void AutonomousInit()
 	{
+		shooter.CalibrateRamp();
+
 		autoSelected = *((std::string*)chooser->GetSelected());
 		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
 		std::cout << "Auto selected: " << autoSelected << std::endl;
@@ -84,18 +91,19 @@ private:
 
 	void TeleopInit()
 	{
-
+		shooter.CalibrateRamp();
 	}
 
 	void TeleopPeriodic()
 	{
 		drive.ArcadeDrive(&driver_stick);
 
-		if(operator_stick.GetRawButton(3))
+		//  This is shit code for testing.  Replace it with real code.
+		if(operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			ramp.Set(1);
 		}
-		else if(operator_stick.GetRawButton(4))
+		else if(operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			ramp.Set(-1);
 		}
@@ -104,13 +112,15 @@ private:
 			ramp.Set(0);
 		}
 
-		if(operator_stick.GetRawButton(THUMB))
+		if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
 		{
 			shooter.PickUp();
+			pickupRunning = true;
 		}
-		else
+		else if(pickupRunning)
 		{
 			shooter.PickUp(false);
+			pickupRunning = false;
 		}