commit 25329e62abc2acd0f49fc24450f4b33bb66b1d5d
author Brian Silverman <brians> Sat Sep 21 23:52:10 2013 -0700
committer Brian Silverman <brians> Sun Sep 22 19:46:53 2013 -0700
tree 039b88284dac2939247ad68491e42c6295862d6d
parent c0a0d11ce81e6fa2f4446bd4d81e8b46e5a9ff20

added hall effect sensor at the top of the loader

frc971/control_loops/index/index.cc

diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index f8dbada..1d2c706 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -106,8 +106,8 @@
 const /*static*/ double IndexMotor::kTransferRollerRadius = 1.25 * 0.0254 / 2;
 
 /*static*/ const int IndexMotor::kGrabbingDelay = 5;
-/*static*/ const int IndexMotor::kLiftingDelay = 30;
-/*static*/ const int IndexMotor::kShootingDelay = 5;
+/*static*/ const int IndexMotor::kLiftingDelay = 2;
+/*static*/ const int IndexMotor::kShootingDelay = 10;
 /*static*/ const int IndexMotor::kLoweringDelay = 20;
 
 // TODO(aschuh): Tune these.
@@ -894,12 +894,17 @@
       loader_up_ = true;
       disc_clamped_ = true;
       disc_ejected_ = false;
-      if (loader_countdown_ > 0) {
-        --loader_countdown_;
-        break;
+      if (position->loader_top) {
+        if (loader_countdown_ > 0) {
+          --loader_countdown_;
+        } else {
+          loader_state_ = LoaderState::LIFTED;
+        }
       } else {
-        loader_state_ = LoaderState::LIFTED;
+        // Restart the countdown if it bounces back down or whatever.
+        loader_countdown_ = kLiftingDelay;
       }
+      break;
     case LoaderState::LIFTED:
       LOG(DEBUG, "Loader LIFTED\n");
       // Disc lifted.  Time to eject it out.