commit 974cf65da738dd147d94a112596c116970b55114
author Austin Schuh <austin.linux@gmail.com> Wed Apr 20 20:18:13 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Apr 22 21:47:58 2016 -0700
tree 9888d4f8bf043c8d20108474b6e3f31576046c4f
parent ceb23cccd29ad8224ead6088cc4a6d387a10c380

Made it easier to understand vision align failures.

Change-Id: I36b1ed6c60d3eb5e278284a0640ce3600f68326c

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 8575fdf..d70215f 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -124,11 +124,17 @@
     const double throttle = -data.GetAxis(kDriveThrottle);
     drivetrain_queue.status.FetchLatest();
 
-    if (data.IsPressed(kVisionAlign) && vision_valid_ &&
-        !vision_action_running_) {
-      actors::VisionAlignActionParams params;
-      action_queue_.EnqueueAction(actors::MakeVisionAlignAction(params));
-      vision_action_running_ = true;
+    if (data.IsPressed(kVisionAlign)) {
+      if (vision_valid_ && !vision_action_running_) {
+        actors::VisionAlignActionParams params;
+        action_queue_.EnqueueAction(actors::MakeVisionAlignAction(params));
+        vision_action_running_ = true;
+        LOG(INFO, "Starting vision align\n");
+      } else {
+        if (!vision_valid_) {
+          LOG(INFO, "Vision align but not valid\n");
+        }
+      }
     }
 
     if (data.NegEdge(kVisionAlign)) {