commit 7db827f4bff0add5282a251733b168d2f559c7ba
author Tyler Chatow <tchatow@gmail.com> Sun Feb 24 00:10:13 2019 -0800
committer Tyler Chatow <tchatow@gmail.com> Fri Mar 01 19:55:13 2019 -0800
tree 604bc59f2061c1ba760f97a6cd97a33be67e73c4
parent d180b25348ced4de79f29ee9a1fa6b2be3bd15a3

Update vacuum logic for mechanical change

Change-Id: I78ea0c48df5a472ee2c38a5e072c2b0e540cb315

y2019/wpilib_interface.cc

diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 221bb51..aa29bc9 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -383,10 +383,10 @@
         if (superstructure_.get()) {
           LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
 
-          big_suction_cup0_->Set(superstructure_->intake_suction_top);
-          big_suction_cup1_->Set(superstructure_->intake_suction_top);
-          small_suction_cup0_->Set(superstructure_->intake_suction_bottom);
-          small_suction_cup1_->Set(superstructure_->intake_suction_bottom);
+          big_suction_cup0_->Set(!superstructure_->intake_suction_bottom);
+          big_suction_cup1_->Set(!superstructure_->intake_suction_bottom);
+          small_suction_cup0_->Set(superstructure_->intake_suction_top);
+          small_suction_cup1_->Set(superstructure_->intake_suction_top);
 
           intake_rollers_talon_->Set(
               ctre::phoenix::motorcontrol::ControlMode::PercentOutput,