commit 94596ddee957923a2b5f59b01534fb44fdb6cdb9
author Austin Schuh <austin.linux@gmail.com> Sun Mar 13 21:41:26 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 16 22:08:08 2016 -0700
tree 26bc46b2ad52657a1818941f5b1d90b36a7646a0
parent 2ccf8c58e261654d5f05c06c2528067107eb45c8

Shift into the default when disabled.

Change-Id: Ia33923a9bece64df620c46c74a115c6cd165d191

frc971/control_loops/drivetrain/polydrivetrain.cc

diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index 2624483..8a0a7ff 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -36,8 +36,8 @@
       wheel_(0.0),
       throttle_(0.0),
       quickturn_(false),
-      left_gear_(Gear::LOW),
-      right_gear_(Gear::LOW),
+      left_gear_(dt_config.default_high_gear ? Gear::HIGH : Gear::LOW),
+      right_gear_(dt_config.default_high_gear ? Gear::HIGH : Gear::LOW),
       counter_(0),
       dt_config_(dt_config) {
   last_position_.Zero();