commit 963415357eb89997d30a17ef65384876820bec46
author Austin Schuh <austin.linux@gmail.com> Fri Mar 09 21:17:24 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 10 19:43:04 2018 -0800
tree 860affd3b163572e54fc244b4ce439bf4543244e
parent f04a4207c1a670015fa582c24682967640f8d567

Added arm pickup FSM

We can now automatically pick up a box when it is in the intake.

Change-Id: Ib93ce376717a79fc3a8747681bb7e907a4b92851

y2018/wpilib_interface.cc

diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index a239cc2..cc59769 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -469,7 +469,7 @@
       superstructure_message->right_intake.beam_break =
           right_intake_cube_detector_->Get();
 
-      superstructure_message->claw_beambreak_triggered = claw_beambreak_->Get();
+      superstructure_message->claw_beambreak_triggered = !claw_beambreak_->Get();
       superstructure_message->box_back_beambreak_triggered =
           !box_back_beambreak_->Get();
 
@@ -627,7 +627,7 @@
         if (superstructure_.get()) {
           LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
 
-          claw_->Set(superstructure_->claw_grabbed);
+          claw_->Set(!superstructure_->claw_grabbed);
           arm_brakes_->Set(superstructure_->release_arm_brake);
           hook_->Set(superstructure_->hook_release);
           forks_->Set(superstructure_->forks_release);