Adjust the button behavior and arm locations.
Change-Id: Ide2e4d3a8b22602501547d721cca1c7a7e4f3e8f
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 37fb4f9..e22219e 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -37,15 +37,15 @@
const double left_intake_goal = ::std::min(
arm_.max_intake_override(),
(unsafe_goal == nullptr ? 0.0 : unsafe_goal->intake.left_intake_angle));
+ const double right_intake_goal = ::std::min(
+ arm_.max_intake_override(),
+ (unsafe_goal == nullptr ? 0.0 : unsafe_goal->intake.right_intake_angle));
+
intake_left_.Iterate(unsafe_goal != nullptr ? &(left_intake_goal) : nullptr,
&(position->left_intake),
output != nullptr ? &(output->left_intake) : nullptr,
&(status->left_intake));
- const double right_intake_goal = ::std::min(
- arm_.max_intake_override(),
- (unsafe_goal == nullptr ? 0.0 : unsafe_goal->intake.right_intake_angle));
-
intake_right_.Iterate(unsafe_goal != nullptr ? &(right_intake_goal) : nullptr,
&(position->right_intake),
output != nullptr ? &(output->right_intake) : nullptr,