changed sone INFOs to DEBUGs like they should be
diff --git a/frc971/actions/catch_action.cc b/frc971/actions/catch_action.cc
index 65f0487..8941dff 100644
--- a/frc971/actions/catch_action.cc
+++ b/frc971/actions/catch_action.cc
@@ -97,7 +97,7 @@
if (!sensors::othersensors.FetchLatest()) {
sensors::othersensors.FetchNextBlocking();
}
- LOG(INFO, "Sonar at %.2f.\n", sensors::othersensors->sonar_distance);
+ LOG(DEBUG, "Sonar at %.2f.\n", sensors::othersensors->sonar_distance);
if (sensors::othersensors->sonar_distance > 0.3 &&
sensors::othersensors->sonar_distance < kSonarTriggerDist) {
return true;
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index d8f19b4..732b882 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -26,17 +26,17 @@
// against last cycle's voltage.
if (X_hat(2, 0) > last_voltage_ + 4.0) {
voltage_ -= X_hat(2, 0) - (last_voltage_ + 4.0);
- LOG(INFO, "Capping due to runawway\n");
+ LOG(DEBUG, "Capping due to runaway\n");
} else if (X_hat(2, 0) < last_voltage_ - 4.0) {
voltage_ += X_hat(2, 0) - (last_voltage_ - 4.0);
- LOG(INFO, "Capping due to runawway\n");
+ LOG(DEBUG, "Capping due to runaway\n");
}
voltage_ = std::min(max_voltage_, voltage_);
voltage_ = std::max(-max_voltage_, voltage_);
U(0, 0) = voltage_ - old_voltage;
- LOG(INFO, "X_hat is %f, applied is %f\n", X_hat(2, 0), voltage_);
+ LOG(DEBUG, "X_hat is %f, applied is %f\n", X_hat(2, 0), voltage_);
last_voltage_ = voltage_;
capped_goal_ = false;
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 2f79d96..b6fd150 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -129,7 +129,7 @@
// Cancels all running actions.
void CancelAllActions() {
- LOG(INFO, "Canceling all actions\n");
+ LOG(DEBUG, "Cancelling all actions\n");
if (current_action_) {
current_action_->Cancel();
}