Removed SHOOTER_PREPARE_FIRE state (no longer try to remove backlash).
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index a23b167..2743bad 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -134,7 +134,6 @@
STATE_LOADING_PROBLEM = 4,
STATE_PREPARE_SHOT = 5,
STATE_READY = 6,
- STATE_PREPARE_FIRE = 7,
STATE_FIRE = 8,
STATE_UNLOAD = 9,
STATE_UNLOAD_MOVE = 10,
@@ -181,14 +180,10 @@
// wait for brake to set
Time shooter_brake_set_time_;
-
+
// The timeout for unloading.
Time unload_timeout_;
- // we are attempting to take up some of the backlash
- // in the gears before the plunger hits
- Time prepare_fire_end_time_;
-
// time that shot must have completed
Time shot_end_time_;