#ifndef BTSHOOTER_H_

#define BTSHOOTER_H_

#include "WPILib.h"

#include <iostream.h>

#include "math.h"

#include "BaeUtilities.h"

#include "BTTurret.h"

#include "ControlBoard.h"

#include "BTRobot.h"

#include "Arbitrator.h"

#include "Sensors.h"

class BTShooter

{

public:

static const float SHOOT_MOTOR_SPEED = 0.75;

static const float SHOOT_TURRET_SPEED = 0.4;

Arbitrator* arbitrator;

BTTurret* turret;

BTShooter(Sensors*, ControlBoard*);

bool Fire(int);

void Enable(int);

void Disable(void);

void SetSpeed(float);

void SetSpeedToThrottle(void);

void ShootRampUp(Jaguar*, float, int);

private:

Jaguar* stageTwoMotor;

Jaguar* stageOneMotor;

Sensors* sensors;

ControlBoard* controlBoard;

bool enabled;

};

#endif