Fixed state transition right before zero
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index 8c56697..73d8bad 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -218,7 +218,8 @@
break;
case STATE_REQUEST_LOAD:
if (position) {
- if (position->pusher_distal.current) {
+ if (position->pusher_distal.current ||
+ position->pusher_proximal.current) {
// We started on the sensor, back up until we are found.
// If the plunger is all the way back and not latched, it won't be
// there for long.
@@ -261,7 +262,8 @@
shooter_.set_max_voltage(4.0);
if (position) {
- if (!position->pusher_distal.current) {
+ if (!position->pusher_distal.current &&
+ !position->pusher_proximal.current) {
Load();
}
}