team2059/zaphod
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Committing working changes

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This commit is contained in:
Austen Adler 2014-10-04 16:39:52 -07:00
parent 9a2fa6e15a
commit 1a8882ee43
1 changed files with 11 additions and 4 deletions
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15
src/Zaphod.cpp
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@ -283,7 +283,14 @@ public:
//{{{shooter_fire //{{{shooter_fire
bool shooter_fire(bool shooter_clear, float shooter_speed, float shooter_max_angle, float shooter_current_angle){ bool shooter_fire(bool shooter_clear, float shooter_speed, float shooter_max_angle, float shooter_current_angle){
//Fire the shooter motors at the given shooter_speed while the shooter_max_angle hasn't been hit and that it is clear to shoot //Fire the shooter motors at the given shooter_speed while the shooter_max_angle hasn't been hit and that it is clear to shoot
if(shooter_max_angle>=shooter_current_angle && shooter_clear==true && shooter_speed >= 15){ if(shooter_clear==true){
printf("Shooter clear");
}else{
printf("Shooter not clear");
}
printf("Max angle: %f, Current angle: %f, shooter_speed: %f\n",shooter_max_angle,shooter_current_angle,shooter_speed);
if(shooter_max_angle>=shooter_current_angle && shooter_clear==true){
printf("Shooting @ %d",shooter_speed);
setMotorValue(4,1,cvt(shooter_speed)); setMotorValue(4,1,cvt(shooter_speed));
setMotorValue(5,1,cvt(shooter_speed)); setMotorValue(5,1,cvt(shooter_speed));
setMotorValue(4,2,cvt(-shooter_speed)); setMotorValue(4,2,cvt(-shooter_speed));
@ -532,7 +539,7 @@ public:
//Lower Shooter{{{ //Lower Shooter{{{
if(currentStep==3){ if(currentStep==3){
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){ if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f); shootRobot(-0.1f);
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
@ -661,7 +668,7 @@ public:
} }
if(shooter_fired(2)==true){ if(shooter_fired(2)==true){
//After the shooter has fired, lower the shooter arm then reset the whole shooting sequence //After the shooter has fired, lower the shooter arm then reset the whole shooting sequence
shooter_lower(-0.1, 40, potToDegrees(armPot.GetAverageVoltage())); shooter_lower(-0.1, 47, potToDegrees(armPot.GetAverageVoltage()));
} }
} }
if(shooter_idle==true){ if(shooter_idle==true){
@ -687,4 +694,4 @@ public:
} }
//}}} //}}}
}; };
START_ROBOT_CLASS(RobotDemo); START_ROBOT_CLASS(RobotDemo);