From 9cb4e7e7b614d2accd7c5911197152de5ee3bd45 Mon Sep 17 00:00:00 2001
From: anidev <anidev.aelico@gmail.com>
Date: Wed, 23 Apr 2014 13:09:17 -0500
Subject: [PATCH] Added commented code for pot angle in case we ever use it

---
 Shooter.cpp | 32 ++++++++++++++++++++------------
 Shooter.h   |  3 +++
 2 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/Shooter.cpp b/Shooter.cpp
index e956540..d62354b 100644
--- a/Shooter.cpp
+++ b/Shooter.cpp
@@ -29,6 +29,7 @@ Shooter::Shooter(main_robot* r,uint8_t axisCan,
     wormGear = new CANJaguar(wormCan);
     puncher = new DoubleSolenoid(punchMod,punchFChan,punchRChan);
     bobTheAccelerometer = new ADXL345_I2C_612(bobMod);
+//  bobThePot = new AnalogChannel(1,5);
     isPickingUp = false;
     shooterJoy = robot -> gunnerJoy;
     shooterJoy -> addJoyFunctions(&buttonHelper,(void*)this,CLAMP);
@@ -223,6 +224,24 @@ void Shooter::buttonHelper(void* objPtr, uint32_t button)
     }
 }
 
+double Shooter::getAngle() {
+    double bobX = bobTheAccelerometer->GetAcceleration(ADXL345_I2C_612::kAxis_X);
+    double bobY = bobTheAccelerometer->GetAcceleration(ADXL345_I2C_612::kAxis_Y);
+    double bobZ = bobTheAccelerometer->GetAcceleration(ADXL345_I2C_612::kAxis_Z);
+    accelWorking = !(doubleEqual(bobX,0.0) && doubleEqual(bobY,0.0) && doubleEqual(bobZ,0.0));
+    if(!accelWorking)
+    {
+        isPitchingUp = false;
+        isPitchingDown = false;
+    }
+    double newPitch = (atan2(bobX, sqrt(bobY*bobY + bobZ*bobZ))*180.0)/PI;
+    //    if(fabs(newPitch-currentPitch) < 10)
+    currentPitch = newPitch;
+/*  double volts = bobThePot->GetVoltage();
+    currentPitch = bobThePot; // TODO get pot conversion */
+    return currentPitch;
+}
+
 /*
  * 
  * The following code is a shortcut of sorts for Ben so that he can press one button to do a bunch of stuff
@@ -246,18 +265,7 @@ void Shooter::setPickupHelper(void* instName, uint32_t button) {
 
 void Shooter::update()
 {
-    double bobX = bobTheAccelerometer->GetAcceleration(ADXL345_I2C_612::kAxis_X);
-    double bobY = bobTheAccelerometer->GetAcceleration(ADXL345_I2C_612::kAxis_Y);
-    double bobZ = bobTheAccelerometer->GetAcceleration(ADXL345_I2C_612::kAxis_Z);
-    accelWorking = !(doubleEqual(bobX,0.0) && doubleEqual(bobY,0.0) && doubleEqual(bobZ,0.0));
-    if(!accelWorking)
-    {
-        isPitchingUp = false;
-        isPitchingDown = false;
-    }
-    double newPitch = (atan2(bobX, sqrt(bobY*bobY + bobZ*bobZ))*180.0)/PI;
-//    if(fabs(newPitch-currentPitch) < 10)
-        currentPitch = newPitch;
+    getAngle();
 
     static int output = 0;
     if(output%20 == 0)
diff --git a/Shooter.h b/Shooter.h
index afe6d31..8627971 100644
--- a/Shooter.h
+++ b/Shooter.h
@@ -4,6 +4,7 @@
 #include <CANJaguar.h>
 #include <Talon.h>
 #include <DoubleSolenoid.h>
+#include <AnalogChannel.h>
 #include "ADXL345_I2C_612.h"
 #include <cmath>
 #include "controls.h"
@@ -43,6 +44,7 @@ class Shooter
     void punch();
     void smartFire();
     bool doubleEqual(double a,double b);
+    double getAngle();
     
     void setPickup();
     static void setPickupHelper(void*, uint32_t);
@@ -54,6 +56,7 @@ class Shooter
     CANJaguar* wormGear;
     DoubleSolenoid* puncher;
     ADXL345_I2C_612* bobTheAccelerometer;
+//  AnalogChannel* bobThePot;
     main_robot* robot;
 
     bool isPickingUp;