Disable the intake after a little bit so we can get it out first.
This lets us get the intake out if the driver hits the hang
button before estopping.
Change-Id: Ie18e83722cb3ea09cac1a0d05238e2a2eb220b8a
diff --git a/y2017/control_loops/superstructure/intake/intake.cc b/y2017/control_loops/superstructure/intake/intake.cc
index 3183634..5c88067 100644
--- a/y2017/control_loops/superstructure/intake/intake.cc
+++ b/y2017/control_loops/superstructure/intake/intake.cc
@@ -87,7 +87,9 @@
profiled_subsystem_.AdjustProfile(unsafe_goal->profile_params);
profiled_subsystem_.set_unprofiled_goal(unsafe_goal->distance);
if (unsafe_goal->disable_intake) {
- disable = true;
+ if (disable_count_ > 100) {
+ disable = true;
+ }
++disable_count_;
if (disable_count_ > 200) {
state_ = State::ESTOP;