| commit | 9cc9ab62439ccb3991518f6f1ddf68544857d050 | [log] [tgz] |
|---|---|---|
| author | Diana Vandenberg <dkvandenberg2@gmail.com> | Wed Apr 20 21:27:47 2016 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Fri May 13 20:24:50 2016 -0700 |
| tree | 543ce475bf147f35155d7c0c9b8d2277da7269af | |
| parent | 71466fee065243bcad915ccc5f7fcb214030fc45 [diff] [blame] |
Initial stab at hanging actor. Change-Id: I7d225176962759f8cbcdd42e72fe21eb003349a2
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc index fb54a95..d90ec68 100644 --- a/y2016/control_loops/superstructure/superstructure.cc +++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -627,7 +627,7 @@ arm_.set_max_voltage(kill_shoulder_ ? 0.0 : max_voltage, max_voltage); intake_.set_max_voltage(max_voltage); - if (IsRunning()) { + if (IsRunning() && !kill_shoulder_) { // We don't want lots of negative voltage when we are near the bellypan on // the shoulder... // TODO(austin): Do I want to push negative power into the belly pan at this