From ae2dfe00471a67b515bb2462963798a52d257f98 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Sat, 13 Feb 2016 11:12:20 -0500
Subject: [PATCH] Fixed some really bad logic in the shooter...

---
 src/Robot.cpp | 24 +++++++++++++++++-------
 src/Shooter.h | 11 ++++++++---
 2 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6ec1e54..6dd945d 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -43,6 +43,8 @@ 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.
 	bool inverting;
+	bool ramping;
+	bool shooting;
 	float shooter_power;
 
 	LiveWindow *lw = LiveWindow::GetInstance();
@@ -61,9 +63,11 @@ private:
 		shooter2.Enable();
 		left_drive.SetInverted(true);
 		right_drive.SetInverted(true);
-		launch_spinny.SetInverted(true);
+		//launch_spinny.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
+		ramping = false;
+		shooting = false;
 		shooter_power = 0;
 
 	}
@@ -110,22 +114,26 @@ private:
 		std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
+		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
-		if(operator_stick.GetRawButton(RAMP_RAISE))
+		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
 		{
 			//launch_spinny.Set(1);
 			shooter.RaiseRamp();
+			ramping =true;
 		}
-		else if(operator_stick.GetRawButton(RAMP_LOWER))
+		else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			//launch_spinny.Set(-1);
 			shooter.LowerRamp();
+			ramping = true;
 		}
-		else if(operator_stick.GetRawButton(TRIGGER))
+		else if(!ramping && operator_stick.GetRawButton(TRIGGER))
 		{
 			shooter.BoostRamp();
+			ramping = true;
 		}
-		else
+		else if(ramping)
 		{
 			launch_spinny.Set(0);
 		}
@@ -174,12 +182,14 @@ private:
 		 *	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))
+		if(operator_stick.GetRawButton(TRIGGER) && !shooting)
 		{
+			shooting = true;
 			shooter.Shoot();
 		}
-		else
+		else if(shooting)
 		{
+			shooting = false;
 			shooter.StopShooter();
 		}
 		
diff --git a/src/Shooter.h b/src/Shooter.h
index 7b4705d..8dbdc57 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -51,17 +51,22 @@ public:
 
 	void LowerRamp()
 	{
-		launch_spinny->Set(-0.25);
+		launch_spinny->Set(-1);
 	}
 
 	void RaiseRamp()
 	{
-		launch_spinny->Set(0.25);
+		launch_spinny->Set(1);
+	}
+
+	void StopRamp()
+	{
+		launch_spinny->Set(0);
 	}
 
 	void BoostRamp()
 	{
-		launch_spinny->Set(0.5);
+		launch_spinny->Set(1);
 	}
 	
 	void Shoot()