commit 85e2e91b2c4ac3344d70c15064bf501bba0b9553
author Austin Schuh <austin.linux@gmail.com> Sun Feb 17 15:04:29 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 17 15:25:53 2019 -0800
tree db418effe27e3aba333610207e1859d3c8244a94
parent 6e5a3e1fc0a9b6b8a76e9717a5e36fd0518bc6c8

Simplify logic in superstructure rollers

Change-Id: Ibeacf80b95e21409f5e8e3e76fe00af8033faf51

y2019/control_loops/superstructure/superstructure.cc

diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index 5edfce3..a75f9a1 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -67,10 +67,8 @@
                      status->intake.estopped || status->stilts.estopped;
 
   if (output) {
-    if (status->intake.position > kMinIntakeAngleForRollers) {
-      output->intake_roller_voltage =
-          (unsafe_goal != nullptr) ? unsafe_goal->roller_voltage : 0.0;
-
+    if (unsafe_goal && status->intake.position > kMinIntakeAngleForRollers) {
+      output->intake_roller_voltage = unsafe_goal->roller_voltage;
     } else {
       output->intake_roller_voltage = 0.0;
     }