Added support for different shooting powers

Subsystems/Controller.cpp

@@ -6,7 +6,15 @@ JoystickController::JoystickController()
   leftJoystick = new Joystick(JOYSTICK_LEFT);
 }
 
-//void JoystickController::getRightJoystick(JoystickController *controller)
+void JoystickController::updateJoysticks()
+{
+  getRightJoystick();
+  getLeftJoystick();
+  getRightJoystickAxis();
+  getLeftJoystickAxis();
+  throttle = (-leftJoystickAxisValues[4]+1)/2;
+}
+
 void JoystickController::getRightJoystick()
 {
   for(int i=1; i<13; i++)
@@ -22,3 +30,19 @@ void JoystickController::getLeftJoystick()
     leftJoystickValues[i] = leftJoystick->GetRawButton(i);
   }
 }
+
+void JoystickController::getRightJoystickAxis()
+{
+  for(int i=1; i<7; i++)
+  {
+    rightJoystickAxisValues[i] = rightJoystick->GetRawAxis(i);
+  }
+}
+
+void JoystickController::getLeftJoystickAxis()
+{
+  for(int i=1; i<7; i++)
+  {
+    leftJoystickAxisValues[i] = leftJoystick->GetRawAxis(i);
+  }
+}

Subsystems/Controller.h

@@ -8,7 +8,13 @@ class JoystickController
   public:
     int leftJoystickValues[];
     int rightJoystickValues[];
+    float leftJoystickAxisValues[];
+    float rightJoystickAxisValues[];
+    float throttle;
     JoystickController();
+    void updateJoysticks();
     void getRightJoystick();
     void getLeftJoystick();
+    void getLeftJoystickAxis();
+    void getRightJoystickAxis();
 };

Subsystems/Shooter.cpp

@@ -11,10 +11,11 @@ ZaphodShooter::ZaphodShooter()
   e_ShooterState = IDLE_PRESHOT;
 }
 
-void ZaphodShooter::startShootingSequence()
+void ZaphodShooter::startShootingSequence(float throttle)
 {
   //Changes the enum to tell the shooter to be firing
   e_ShooterState = FIRING;
+  shootingPower = throttle;
 }
 
 //First step in shooting process
@@ -75,7 +76,7 @@ void ZaphodShooter::updateShooterPosition()
   if(e_ShooterState == FIRING)
   {
     isShooting = true;
-    shootForAngle(1,110);
+    shootForAngle(shootingPower,110);
   }
   if(e_ShooterState == IDLE_POSTSHOT)
   {

Subsystems/Shooter.h

@@ -16,7 +16,8 @@ class ZaphodShooter
       IDLE_POSTSHOT
     }e_ShooterState;
     bool isShooting;
-    void startShootingSequence();
+    float shootingPower;
+    void startShootingSequence(float);
     void shootForAngle(float, float);
     void shootRaw(float);
     void lower(float);

ZaphodBase.h

@@ -1,4 +1,3 @@
-
 #ifndef __ZAPHOD_BASE_H__
 #define __ZAPHOD_BASE_H__
 

ZaphodRobot.cpp

@@ -57,20 +57,26 @@ float ZaphodRobot::getRearSonar()
   return (rearSonarRightV+rearSonarLeftV)/2;
 }
 
+void driveRobot(float x, float y)
+{
+}
+
 //Main function used to handle periodic tasks on the robot
  
 void ZaphodRobot::handler()
 {
   //Periodic tasks that should be run by every loop
-  ControlSystem->getRightJoystick();
-  ControlSystem->getLeftJoystick();
+  ControlSystem->updateJoysticks();
   shooter->updateShooterPosition();
+  //TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
   compressorSystem->compressorSystemPeriodic();
   collector->updateCollector(shooter->isShooting, shooter->getAngle());
+  
+  //Button assignments to actions
   if(ControlSystem->leftJoystickValues[SHOOTER_FIRE])
   {
     //TODO Needs a power input
-    shooter->startShootingSequence();
+    shooter->startShootingSequence(ControlSystem->throttle);
   }
   if(ControlSystem->rightJoystickValues[COLLECTOR_INTAKE])
   {

ZaphodRobot.h

@@ -26,6 +26,7 @@ class ZaphodRobot
     float frontSonarLeftV, frontSonarRightV, rearSonarLeftV, rearSonarRightV;
     float getFrontSonar();
     float getRearSonar();
+    void driveRobot(float,float);
     void handler();
 };
 #endif