commit c52775425ea527288afa45d1efab2036be9bea60
author Brian Silverman <brians> Fri Mar 22 13:33:07 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:12 2013 -0700
tree 523ca8984ac489d5deb90ebc81fdbfc007c6e805
parent 1c14af852cfa2595f81b717c3b74c681e3547157

modifications at Davis. SPLIT OUT LATER

frc971/control_loops/index/index.cc

diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index bdcb8a3..df88a34 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -6,7 +6,6 @@
 
 #include "aos/aos_core.h"
 
-#include "aos/common/messages/RobotState.q.h"
 #include "aos/common/control_loop/control_loops.q.h"
 #include "aos/common/logging/logging.h"
 #include "aos/common/inttypes.h"
@@ -542,7 +541,8 @@
           }
 
           if (position->bottom_disc_detect) {
-            intake_voltage = transfer_voltage = 12.0;
+            intake_voltage = 0.0;
+            transfer_voltage = 12.0;
             // Must wait until the disc gets out before we can change state.
             safe_to_change_state = false;
 
@@ -585,7 +585,8 @@
         for (auto frisbee = frisbees_.begin();
              frisbee != frisbees_.end(); ++frisbee) {
           if (!frisbee->has_been_indexed_) {
-            intake_voltage = transfer_voltage = 12.0;
+            intake_voltage = 0.0;
+            transfer_voltage = 12.0;
 
             // All discs must be indexed before it is safe to stop indexing.
             safe_to_change_state = false;