Fixed Austin's comments.
Squashed 'Changed fender shot to long without IMU' and
fixed Austin's comments.
Change-Id: Id81f4f8d35bb399d33bb74bd3d4e895603817711
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index d2d1375..fcfe33c 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -191,10 +191,6 @@
const double kThrottleGain = 1.0 / 2.5;
if (false && (data.IsPressed(kDriveControlLoopEnable1) ||
data.IsPressed(kDriveControlLoopEnable2))) {
- // TODO(austin): Static sucks!
- static double distance = 0.0;
- static double angle = 0.0;
- static double filtered_goal_distance = 0.0;
if (data.PosEdge(kDriveControlLoopEnable1) ||
data.PosEdge(kDriveControlLoopEnable2)) {
if (drivetrain_queue.position.FetchLatest() &&
@@ -504,6 +500,10 @@
double goal_angle_;
double separation_angle_, shot_separation_angle_;
double velocity_compensation_;
+ // Distance, angle, and filtered goal for closed loop driving.
+ double distance;
+ double angle;
+ double filtered_goal_distance;
double intake_power_;
bool was_running_;
bool moving_for_shot_ = false;