it shoots, it scores.

src/Definitions.h

@@ -1,6 +1,9 @@
 #ifndef __DEFINITIONS_H__
 #define __DEFINITIONS_H__
 
+
+#define CODE_VERSION 0.07
+
 //Sidecar declarations
 #define DRIVE_LEFT_SIDECAR      1
 #define DRIVE_RIGHT_SIDECAR     2

src/HHRobot.cpp

@@ -10,17 +10,19 @@ HHRobot::HHRobot():
   //sonar(new HHSonar()){
     driveTable=NetworkTable::GetTable("ZaphodDrive");
     shooterTable=NetworkTable::GetTable("ZaphodShooter");
+    collectorTable=NetworkTable::GetTable("ZaphodCollector");
     right1 = new Talon(DRIVE_RIGHT_SIDECAR,DRIVE_RIGHT_MOTOR_ONE);
     right2 = new Talon(DRIVE_RIGHT_SIDECAR,DRIVE_RIGHT_MOTOR_TWO);
     right3 = new Talon(DRIVE_RIGHT_SIDECAR,DRIVE_RIGHT_MOTOR_THREE);
     left1 = new Talon(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_ONE);
     left2 = new Talon(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_TWO);
     left3 = new Talon(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_THREE);
+    shooterTable->PutNumber("Target Shooter Angle",90);
   }
 
 void HHRobot::Init(){
   printf("Initing\n");
-  printf("Code Version: 0.0.06\n");
+  printf("Code Version: %f\n",CODE_VERSION);
   collector->CollectBallAtSpeed(0);
   //Put table values initally to avoid annoying refreshing
   shooterTable->PutNumber("Target Shooter Angle",90);
@@ -102,7 +104,7 @@ void HHRobot::RunAuto(){
 
 //Main function used to handle periodic tasks on the robot
 void HHRobot::Handler(){
-  int targetAngle;
+  double targetAngle = shooterTable->GetNumber("Target Shooter Angle");
   bool allowCompressing;
   //Periodic tasks that should be run by every loop
   shooter->UpdateShooterPosition(targetAngle);
@@ -119,9 +121,12 @@ void HHRobot::Handler(){
   //Collector button assignments
   if(controlSystem->GetJoystickButton(1,COLLECTOR_INTAKE)) {
     collector->CollectBall();
+    collectorTable->PutNumber("Current Collector Speed",1);
   }else if(controlSystem->GetJoystickButton(1,COLLECTOR_OUTTAKE)) {
+    collectorTable->PutNumber("Current Collector Speed",-1);
     collector->ReleaseBall();
   }else{
+    collectorTable->PutNumber("Current Collector Speed",0);
     collector->CollectorStop();
   }
   if(controlSystem->GetJoystickButton(1,COLLECTOR_EXTEND)){
@@ -132,20 +137,17 @@ void HHRobot::Handler(){
   }
   if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_ONE)){
     targetAngle=100;
-    shooterTable->PutNumber("Target Shooter Angle",targetAngle);
   }
   if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_TWO)){
     targetAngle=120;
-    shooterTable->PutNumber("Target Shooter Angle",targetAngle);
   }
   if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_THREE)){
     targetAngle=90;
-    shooterTable->PutNumber("Target Shooter Angle",targetAngle);
   }
   if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_FOUR)){
     targetAngle=130;
-    shooterTable->PutNumber("Target Shooter Angle",targetAngle);
   }
+  shooterTable->PutNumber("Target Shooter Angle",targetAngle);
   //TODO: Fix whatever this is supposed to do
   //if(controlSystem->rightJoystickValues[DISABLE_COMPRESSOR]){
   if(false){
@@ -159,8 +161,7 @@ void HHRobot::Handler(){
     targetAngle=100;
     if(sonar->GetInches("FRONTLEFT")>=45){
       DriveRobot(0,-.5);
-    }
-    else{
+    } else{
       DriveRobot(0,0);
     }
   }

src/HHRobot.h

@@ -15,7 +15,7 @@ class HHRobot{
     Talon *right1, *right2, *right3, *left1, *left2, *left3;
     Joystick *rightStick, *leftStick;
     JoystickController *controlSystem;
-    NetworkTable *driveTable, *shooterTable;
+    NetworkTable *driveTable, *shooterTable, *collectorTable;
     HHShooter *shooter;
     HHCollector *collector;
     HHCompressor *compressorSystem;

src/Subsystems/Shooter.cpp

@@ -11,11 +11,11 @@ void HHShooter::StartShootingSequence(float throttle){
   //Changes the enum to tell the shooter to be firing
   e_ShooterState=FIRING;
   // Convert the throttle input to a pwm value
-  shootingPower=throttle * 127.0f + 128;
+  shootingPower=throttle;
 }
 //First step in shooting process
 bool HHShooter::ShootForAngle(float power, float desiredAngle){
-  if(GetAngle() <= desiredAngle && power >= 15){
+  if(GetAngle() <= desiredAngle){
     ShootRaw(power);
     e_ShooterState=FIRING;
     return true;
@@ -49,7 +49,7 @@ void HHShooter::ShootRaw(float power){
   shooterRight2->SetRaw(int(FloatToPWM(-power)));
 }
 //Should be run in a loop
-void HHShooter::UpdateShooterPosition(int angle){
+void HHShooter::UpdateShooterPosition(double angle){
   if(e_ShooterState == IDLE_PRESHOT){
     isShooting=false;
     StopShooter();
@@ -58,7 +58,7 @@ void HHShooter::UpdateShooterPosition(int angle){
     isShooting=true;
     if (ShootForAngle(shootingPower,angle)){
       printf("Shooting!\n");
-      printf("Shooting at power %f\n",shooterRight1->GetRaw());
+      printf("Shooting at power %d\n",shooterRight1->GetRaw());
     }
     else {
       printf("Done shooting!\n");

src/Subsystems/Shooter.h

@@ -19,7 +19,7 @@ class HHShooter{
     void ShootRaw(float);
     void Lower(float);
     void StopShooter();
-    void UpdateShooterPosition(int);
+    void UpdateShooterPosition(double);
     float FloatToPWM(float input);
     float GetAngle();
 };