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] 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_ */