commit 40855b06cde39cbc236514edcca82517263344de
author Austin Schuh <austin.linux@gmail.com> Mon Sep 28 00:34:24 2015 +0000
committer Austin Schuh <austin.linux@gmail.com> Thu Oct 08 02:51:44 2015 +0000
tree ea7ffe1da305aa035a720ca007a5e8e7fd1fc03c
parent aeb1f49fc37e384bf21fad75ed1731c047d87726

Fixed nullptr dereference in intake causing crashes.

Change-Id: I7bde35692e1c008a451872c4bef362b544da20b1

bot3/control_loops/intake/intake.cc

diff --git a/bot3/control_loops/intake/intake.cc b/bot3/control_loops/intake/intake.cc
index bfa71bf..fb00a83 100644
--- a/bot3/control_loops/intake/intake.cc
+++ b/bot3/control_loops/intake/intake.cc
@@ -16,8 +16,13 @@
   if (output != nullptr) {
     output->Zero();
 
-    output->intake = goal->movement;
-    output->claw_closed = goal->claw_closed;
+    if (goal != nullptr) {
+      output->intake = goal->movement;
+      output->claw_closed = goal->claw_closed;
+    } else {
+      output->intake = 0.0;
+      output->claw_closed = false;
+    }
   }
 }