commit 813b9afb7a86ec4539a24f7871fa49bf215aa4f9
author Austin Schuh <austin@peloton-tech.com> Sun Mar 08 18:46:58 2015 -0700
committer Austin Schuh <austin@peloton-tech.com> Sun Mar 08 19:31:43 2015 -0700
tree 151b65b133c1bf815369d0ee88b9a87b26fec155
parent 95de062b75339fc39ed8182e0c446d96b03edf48

Added a bunch of new actions.

Change-Id: I890b4cef168baa12e02e181de683243ffa02e7c0

frc971/control_loops/claw/claw.cc

diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 64ba98e..ff378c8 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -258,12 +258,17 @@
 
   if (output) {
     output->voltage = claw_loop_->U(0, 0);
-    if (unsafe_goal) {
-      output->intake_voltage = unsafe_goal->intake;
-      output->rollers_closed = unsafe_goal->rollers_closed;
-    } else {
+    if (state_ != RUNNING) {
       output->intake_voltage = 0.0;
       output->rollers_closed = false;
+    } else {
+      if (unsafe_goal) {
+        output->intake_voltage = unsafe_goal->intake;
+        output->rollers_closed = unsafe_goal->rollers_closed;
+      } else {
+        output->intake_voltage = 0.0;
+        output->rollers_closed = false;
+      }
     }
     if (output->rollers_closed != last_rollers_closed_) {
       last_piston_edge_ = Time::Now();