the indexer was forgetting about discs in the loader that didn't shoot
diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index 779e6a9..cf6aa8a 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -899,7 +899,7 @@
break;
}
case LoaderState::LIFTING:
- LOG(DEBUG, "Loader LIFTING %d\n", loader_countdown_);
+ LOG(DEBUG, "Loader LIFTING %d %d\n", loader_countdown_, loader_timeout_);
// Lifting the disc.
loader_up_ = true;
disc_clamped_ = true;
@@ -953,10 +953,8 @@
loader_state_ = LoaderState::LOWERING;
loader_countdown_ = kLoweringDelay;
loader_timeout_ = 0;
- --hopper_disc_count_;
- ++shot_disc_count_;
case LoaderState::LOWERING:
- LOG(DEBUG, "Loader LOWERING %d\n", loader_countdown_);
+ LOG(DEBUG, "Loader LOWERING %d %d\n", loader_countdown_, loader_timeout_);
// Lowering the loader back down.
loader_up_ = false;
disc_clamped_ = false;
@@ -968,6 +966,8 @@
break;
} else {
loader_state_ = LoaderState::LOWERED;
+ --hopper_disc_count_;
+ ++shot_disc_count_;
}
} else {
// Restart the countdown if it bounces back up or something.