From ca3e5f513c734870e595f01e2578dd79d3ade246 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Sat, 18 Oct 2014 15:31:39 +0000
Subject: [PATCH] Added NetworkTables support and fixed minor auto logic issues

---
 src/HHRobot.cpp | 9 +++++++--
 src/HHRobot.h   | 1 +
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index c46939b..4919849 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -1,4 +1,5 @@
 #include "HHRobot.h"
+#include "NetworkTables/NetworkTable.h"
 #include "HHBase.h"
 HHRobot::HHRobot():
   ControlSystem(new JoystickController()),
@@ -8,6 +9,7 @@ HHRobot::HHRobot():
   dashboard(new HHDashboard()),
   autoseq(new HHAuto()),
   sonar(new HHSonar()){
+    netTable = NetworkTable::GetTable("datatable");
   }
 bool HHRobot::CheckJoystickValues(){
   float x=ControlSystem->rightJoystickAxisValues[1];
@@ -54,7 +56,7 @@ void HHRobot::RunAuto(){
   }
   //TODO Pass the shooting power and sonar distance as variables to the RunAuto function
   //Shoot at a power
-  if(step == 1){
+  if(step == 1 && time < 500){
     shooter->StartShootingSequence(0.78);
   }else{
     step = 2;
@@ -62,12 +64,15 @@ void HHRobot::RunAuto(){
   if(step == 2){
     return;
   }
+  //Important periodic things
+  netTable->PutNumber("AutoStep",step); //Debugging purposes
+  time++;
 }
 
 //Main function used to handle periodic tasks on the robot
 void HHRobot::Handler(){
   int targetAngle;
-  bool allowCompressing = true;
+  bool allowCompressing;
   //Periodic tasks that should be run by every loop
   ControlSystem->UpdateJoysticks();
   shooter->UpdateShooterPosition(targetAngle);
diff --git a/src/HHRobot.h b/src/HHRobot.h
index ce5e971..1c1ba95 100644
--- a/src/HHRobot.h
+++ b/src/HHRobot.h
@@ -15,6 +15,7 @@ class HHRobot{
   private:
     Jaguar *right1, *right2, *right3, *left1, *left2, *left3;
     JoystickController *ControlSystem;
+    NetworkTable *netTable;
     HHShooter *shooter;
     HHCollector *collector;
     HHCompressor *compressorSystem;