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-launch_spinny 

+ramp
This commit is contained in:
Aidan Ferguson 2016-02-20 15:14:51 -05:00
parent 37458e6d5c
commit 98fa52cf26
2 changed files with 17 additions and 17 deletions
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12
src/Robot.cpp
View File

@ -20,7 +20,7 @@ class Robot: public IterativeRobot
{ {
Talon left_drive, right_drive; Talon left_drive, right_drive;
CANTalon shooter1, shooter2, CANTalon shooter1, shooter2,
launch_spinny, ramp,
arms; arms;
RobotDrive drive; RobotDrive drive;
Shooter shooter; Shooter shooter;
@ -31,11 +31,11 @@ public:
right_drive(1), // Right DriveTrain Talons plug // left wheel 2 right_drive(1), // Right DriveTrain Talons plug // left wheel 2
shooter1(11), // shooter drive 1 shooter1(11), // shooter drive 1
shooter2(10), // shooter drive 2 shooter2(10), // shooter drive 2
launch_spinny(12), ramp(12),
arms(13), arms(13),
drive(&left_drive, &right_drive), drive(&left_drive, &right_drive),
shooter( // initialize Shooter object. shooter( // initialize Shooter object.
&shooter1, &shooter2, &launch_spinny), &shooter1, &shooter2, &ramp),
driver_stick(0), // right stick (operator) driver_stick(0), // right stick (operator)
operator_stick(1) // left stick (driver) operator_stick(1) // left stick (driver)
{ {
@ -68,7 +68,7 @@ private:
shooter2.Enable(); shooter2.Enable();
left_drive.SetInverted(true); left_drive.SetInverted(true);
right_drive.SetInverted(true); right_drive.SetInverted(true);
//launch_spinny.SetInverted(true); //ramp.SetInverted(true);
inverting = false; inverting = false;
pickupRunning = false; pickupRunning = false;
ramping = false; ramping = false;
@ -127,14 +127,14 @@ private:
if(!ramping && operator_stick.GetRawButton(RAMP_RAISE)) if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
{ {
std::cout << "Raising Ramp."; std::cout << "Raising Ramp.";
//launch_spinny.Set(1); //ramp.Set(1);
shooter.RaiseRamp(); shooter.RaiseRamp();
ramping =true; ramping =true;
} }
else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER)) else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
{ {
std::cout << "Lowering Ramp."; std::cout << "Lowering Ramp.";
//launch_spinny.Set(-1); //ramp.Set(-1);
shooter.LowerRamp(); shooter.LowerRamp();
ramping = true; ramping = true;
} }

22
src/Shooter.h
View File

@ -37,7 +37,7 @@ public:
// shooterDrive = new RobotDrive(s1, s2); // shooterDrive = new RobotDrive(s1, s2);
launcher = s1; launcher = s1;
pickup = s2; pickup = s2;
launch_spinny = r; ramp = r;
ready = true; ready = true;
state = READY; state = READY;
} }
@ -51,35 +51,35 @@ public:
{ {
delete launcher; delete launcher;
delete pickup; delete pickup;
delete launch_spinny; delete ramp;
} }
void StopShooter() void StopShooter()
{ {
ready = true; ready = true;
launch_spinny->Set(0); ramp->Set(0);
launcher->Set(0); launcher->Set(0);
pickup->Set(0); pickup->Set(0);
} }
void LowerRamp() void LowerRamp()
{ {
launch_spinny->Set(-1); ramp->Set(-1);
} }
void RaiseRamp() void RaiseRamp()
{ {
launch_spinny->Set(1); ramp->Set(1);
} }
void StopRamp() void StopRamp()
{ {
launch_spinny->Set(0); ramp->Set(0);
} }
void BoostRamp() void BoostRamp()
{ {
launch_spinny->Set(1); ramp->Set(1);
} }
void Shoot() void Shoot()
@ -96,7 +96,7 @@ public:
case READY: case READY:
{ {
state = SPINNINGUP; state = SPINNINGUP;
launch_spinny->Set(-1); ramp->Set(-1);
launcher->Set(PICKUP_POWER); launcher->Set(PICKUP_POWER);
pickup->Set(PICKUP_POWER); pickup->Set(PICKUP_POWER);
shotClock.Reset(); shotClock.Reset();
@ -118,7 +118,7 @@ public:
} }
case LAUNCH: case LAUNCH:
{ {
launch_spinny->Set(1); ramp->Set(1);
state = LAUNCHING; state = LAUNCHING;
break; break;
} }
@ -139,7 +139,7 @@ public:
{ {
pickup->Set((float) (state * PICKUP_POWER)); pickup->Set((float) (state * PICKUP_POWER));
launcher->Set((float) (state * PICKUP_POWER * -1)); launcher->Set((float) (state * PICKUP_POWER * -1));
//launch_spinny->Set(-1.0*PICKUP_POWER); //ramp->Set(-1.0*PICKUP_POWER);
//std::cout << "picking up!\n"; //std::cout << "picking up!\n";
} }
@ -162,7 +162,7 @@ private:
//RobotDrive *shooterDrive; //RobotDrive *shooterDrive;
CANTalon *launcher; CANTalon *launcher;
CANTalon *pickup; CANTalon *pickup;
CANTalon *launch_spinny; CANTalon *ramp;
ShooterState state; ShooterState state;
Timer shotClock; Timer shotClock;