From e061b741cbc5528aa265f7279aca8962449cf376 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Fri, 12 Feb 2016 19:37:36 -0500
Subject: [PATCH] ramp reinstated

---
 src/Robot.cpp | 12 ++++++++++--
 src/Shooter.h | 23 +++++++++++++++++++----
 2 files changed, 29 insertions(+), 6 deletions(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6de81fa..8826677 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -112,17 +112,25 @@ private:
 		//  This is shit code for testing.  Replace it with real code.
 		if(operator_stick.GetRawButton(RAMP_RAISE))
 		{
-			launch_spinny.Set(1);
+			//launch_spinny.Set(1);
+			shooter.RaiseRamp();
 		}
 		else if(operator_stick.GetRawButton(RAMP_LOWER))
 		{
-			launch_spinny.Set(-1);
+			//launch_spinny.Set(-1);
+			shooter.LowerRamp();
+		}
+		else if(operator_stick.GetRawButton(TRIGGER))
+		{
+			shooter.BoostRamp();
 		}
 		else
 		{
 			launch_spinny.Set(0);
 		}
 
+
+
 		/*
 		 * 	Run the Shooter only while the THUMB button is held down on the operator stick.
 		 *	the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp
diff --git a/src/Shooter.h b/src/Shooter.h
index f9892bd..b273940 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -45,9 +45,24 @@ public:
 	void StopShooter()
 	{
 		ready = true;
-		launch_spinny.Set(0);
-		launcher.Set(0);
-		pickup.Set(0);
+		launch_spinny->Set(0);
+		launcher->Set(0);
+		pickup->Set(0);
+	}
+
+	void LowerRamp()
+	{
+		launch_spinny->Set(-0.1);
+	}
+
+	void RaiseRamp()
+	{
+		launch_spinny->Set(0.1);
+	}
+
+	void BoostRamp()
+	{
+		launch_spinny->Set(0.5);
 	}
 	
 	void Shoot()
@@ -65,7 +80,7 @@ public:
 	void PickUp(bool state = true) 
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
-		launch_spinny->Set(-1.0*PICKUP_POWER);
+		//launch_spinny->Set(-1.0*PICKUP_POWER);
 		std::cout << "picking up!\n";
 	}