Only reset the localizer when using splines.
Otherwise both of them fight and we turn at the start.
Change-Id: I2c772568966241002168537e60d30a9dc67a3906
diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index 9b526dd..3abc8b8 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -50,7 +50,9 @@
starting_position *= -1.0;
starting_heading = aos::math::NormalizeAngle(starting_heading + M_PI);
}
- {
+ if (FLAGS_spline_auto) {
+ // TODO(james): Resetting the localizer breaks the left/right statespace
+ // controller. That is a bug, but we can fix that later by not resetting.
auto builder = localizer_control_sender_.MakeBuilder();
LocalizerControl::Builder localizer_control_builder =
@@ -66,7 +68,7 @@
}
bool AutonomousActor::RunAction(
- const ::frc971::autonomous::AutonomousActionParams *params) {
+ const ::frc971::autonomous::AutonomousActionParams *params) {
Reset();
AOS_LOG(INFO, "Params are %d\n", params->mode());
if (alliance_ == aos::Alliance::kInvalid) {