Kicker.h

#ifndef KICKER__H
#define KICKER__H
#include "CANJaguar.h"
#include "Input.h"
#include "WPILib.h"
#include "KickerReleaser.h"
#include "Timer.h"

#include "RedAlertJaguar.h"
#define KICK_DELAY_PERIOD (0.5)
#define KICK_TOLERANCE    (0.15)

#define KickerState KickerSM.KickerStateVariable

union KickerStateMachine_Tag {
	char KickerStateVariable;
	struct {
		unsigned Bit7:1;
		unsigned Bit6:1;
		unsigned Bit5:1;
		unsigned Bit4:1;
		unsigned Bit3:1;
		unsigned Bit2:1;
		unsigned Bit1:1;
		unsigned Bit0:1;
	    } Bits;
};

class Kicker{
	public:
		Kicker(); //Constructor
		void KickerInit(Input * in, double period); //Colin told me to add this, I think it has something to do w/ the IO
		void ProcessKicker();       //WRITE
		void KickerStateMachine();  //WRITE
		bool Armed();			//WRITE
		void Kick(bool trig, bool caught); //Kicks
		void SetPosition(float pos); //Sets the position for the 'boot'. Think firing modes
		float GetSetPosition(); //Returns what the position 'boot' is supposed to be at
		void Chamber(); //Actually chambers the kicker
		float GetPosition(); //Returns the current position of the 'boot'
		bool Process(); //Finds out if the 'kick' button is pulled. ->RIGHT TRIGGER<-
		bool LaunchComplete(); // checks if launch is complete
		bool IsArmed(); // checks if arm button has been pressed
		int GetState(); // returns the state of Kicker
		void DuctTape(); // Fixes EVERYTHING :]
		bool IsHome(); // Detects if the kicker is in the home position
		void ManualMode(); // allows the user to manually pull back the kicker
		double GetEncoderPosition();
		int GetCounter();
		void SetKickerPower(); // sets the amount of power going to the kicker
		
		void ResetState();
		
		float GetWenchBusVoltage();
		float GetWenchTemperature();
		float GetWenchOutputCurrent();
		
		inline CANJaguar * GetChamberWench() { return ChamberWench; }
		inline KickerReleaser * GetReleaser() { return releaser; } 
	private:
		float position; //The 'boot' position variable (maybe this should be a float?)
		float ActPosition; //The 'boot's actual position in meatspace. Is not necessarily the same as position
		bool Captured; //The variable telling us if the robot has a ball
		bool pull; //Variable telling us if the 'kick' button is pulled
		int state; //Contains the state
		int counter; //Counter
		double period; //Tracks the period
		double setPosition;
		
		static const double kArmTime = 1.5; // seconds
		static const double kArmPower = -.45; 
		static const double kMaxKickPower = -2.5;
		
		union KickerStateMachine_Tag KickerSM;
		
		CANJaguar * ChamberWench;
		//RedAlertJaguar * ChamberWench;
		Input * input;
		DriverStationLCD * dsLCD;
		KickerReleaser * releaser;
		DigitalInput * HomeSensor;
		DigitalInput * BallCapturedSensor;
		Encoder *shaftEncoder;
		//Timer *kickDelay;
		//Timer * kickArmTime;
		int kickArmCounter;
		bool manualBackup;
		int kickCounter;

	
};

#endif