Fixed Austin's comments.
Austin gave me verbal last-minute-bugs to fix, so this commit is trying to get rid of such bugs.
Also, I squashed 'Changed fender shot to long without IMU'.
Change-Id: Iae7bc8006f437bcfc20e72384871858c42d2a350
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 6a0edf0..bb966d7 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -152,8 +152,8 @@
if (data.PosEdge(kTurn1) || data.PosEdge(kTurn2)) {
if (drivetrain_queue.status.get()) {
- left_goal = drivetrain_queue.status->estimated_left_position;
- right_goal = drivetrain_queue.status->estimated_right_position;
+ left_goal_ = drivetrain_queue.status->estimated_left_position;
+ right_goal_ = drivetrain_queue.status->estimated_right_position;
}
}
if (data.IsPressed(kTurn1) || data.IsPressed(kTurn2)) {
@@ -165,8 +165,8 @@
.highgear(is_high_gear_)
.quickturn(data.IsPressed(kQuickTurn))
.control_loop_driving(is_control_loop_driving)
- .left_goal(left_goal - wheel * 0.5 + throttle * 0.3)
- .right_goal(right_goal + wheel * 0.5 + throttle * 0.3)
+ .left_goal(left_goal_ - wheel * 0.5 + throttle * 0.3)
+ .right_goal(right_goal_ + wheel * 0.5 + throttle * 0.3)
.left_velocity_goal(0)
.right_velocity_goal(0)
.Send()) {
@@ -454,8 +454,8 @@
double shooter_velocity_ = 0.0;
// Turning goals
- double left_goal;
- double right_goal;
+ double left_goal_;
+ double right_goal_;
bool was_running_ = false;
bool auto_running_ = false;