commit f59b8ee6e97a48cb331a51cb93f1ec392a3d19c1
author Austin Schuh <austin.linux@gmail.com> Sat Mar 19 21:31:36 2016 -0700
committer Austin Schuh <austin@peloton-tech.com> Mon Mar 21 19:40:33 2016 -0700
tree 2d40b7f95c1a3a42a183e74060be9d937320ccce
parent 7bb80b6350a921677108e5991e144163785fbc19

Wrote the 5 autonomous modes.

Change-Id: I46d3607811c78be14a3ca5f445899b15b0627fb5

y2016/control_loops/shooter/shooter.cc

diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 32ccc7e..0936eea 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -70,6 +70,7 @@
 
 Shooter::Shooter(ShooterQueue *my_shooter)
     : aos::controls::ControlLoop<ShooterQueue>(my_shooter),
+      shots_(0),
       last_pre_shot_timeout_(0, 0) {}
 
 void Shooter::RunIteration(const ShooterQueue::Goal *goal,
@@ -127,20 +128,24 @@
           }
           if (::std::abs(goal->angular_velocity) < 10 ||
               last_pre_shot_timeout_ < Time::Now()) {
-            state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+            state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
           break;
         case ShooterLatchState::WAITING_FOR_SPINUP:
           shoot = true;
           if (left_.velocity() > goal->angular_velocity * 0.95 &&
               right_.velocity() > goal->angular_velocity * 0.95) {
-            state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+            state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
           if (::std::abs(goal->angular_velocity) < 10 ||
               last_pre_shot_timeout_ < Time::Now()) {
-            state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+            state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
           break;
+        case ShooterLatchState::INCREMENT_SHOT_COUNT:
+          ++shots_;
+          state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+          break;
         case ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE:
           shoot = true;
           if (!goal->push_to_shooter) {
@@ -153,6 +158,8 @@
       output->push_to_shooter = shoot;
     }
   }
+
+  status->shots = shots_;
 }
 
 }  // namespace shooter