commit 8e4a7ee0614c8b8ba7d85d8bd8a850d2f5516906
author Austin Schuh <austin.linux@gmail.com> Wed Apr 05 19:26:06 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Apr 09 16:14:28 2017 -0700
tree d5b7d42940e58a28a4bfd23da25ac8dc2b626250
parent 55c8d30314183e3acd3005c77c0c7ea949c9d131

Made hanging the most important.

Change-Id: I7a379e25ba5e1d7e6c67bfaed6ca78af53fcd398

y2017/joystick_reader.cc

diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index 7a4bb89..246150f 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -242,6 +242,17 @@
     new_superstructure_goal->intake.voltage_rollers = 0.0;
     new_superstructure_goal->lights_on = lights_on;
 
+    if (superstructure_queue.status->intake.position >
+        superstructure_queue.status->intake.unprofiled_goal_position + 0.01) {
+      intake_accumulator_ = 10;
+    }
+    if (intake_accumulator_ > 0) {
+      --intake_accumulator_;
+      if (!superstructure_queue.status->intake.estopped) {
+        new_superstructure_goal->intake.voltage_rollers = 10.0;
+      }
+    }
+
     if (data.IsPressed(kHang)) {
       new_superstructure_goal->intake.voltage_rollers = -10.0;
       new_superstructure_goal->intake.disable_intake = true;
@@ -259,15 +270,6 @@
           ::std::min(8.0, new_superstructure_goal->intake.voltage_rollers);
     }
 
-    if (superstructure_queue.status->intake.position >
-        superstructure_queue.status->intake.unprofiled_goal_position + 0.01) {
-      intake_accumulator_ = 10;
-    }
-    if (intake_accumulator_ > 0) {
-      --intake_accumulator_;
-      new_superstructure_goal->intake.voltage_rollers = 10.0;
-    }
-
     if (data.IsPressed(kReverseIndexer)) {
       new_superstructure_goal->indexer.voltage_rollers = -12.0;
       new_superstructure_goal->indexer.angular_velocity = 4.0;