commit a3271fec46ea885bbfb83014c1c1f9258bd3cbde
author Adam Snaider <adsnaider@gmail.com> Wed Oct 26 21:03:38 2016 -0700
committer Adam Snaider <adsnaider@gmail.com> Fri Oct 28 20:26:59 2016 -0700
tree c7e34e024fd5aa95104319adc938aba4a08c4269
parent 94a5237117053319b52d603181f13388e720696e

Fixed Austin's comments.

Squashed 'Changed fender shot to long without IMU' and
fixed Austin's comments.

Change-Id: Id81f4f8d35bb399d33bb74bd3d4e895603817711

y2016_bot3/joystick_reader.cc

diff --git a/y2016_bot3/joystick_reader.cc b/y2016_bot3/joystick_reader.cc
index a02142d..97bd089 100644
--- a/y2016_bot3/joystick_reader.cc
+++ b/y2016_bot3/joystick_reader.cc
@@ -143,11 +143,8 @@
       saw_ball_when_started_intaking_ = ball_detected;
     }
 
-    if (data.IsPressed(kIntakeIn)) {
-      is_intaking_ = (!ball_detected || saw_ball_when_started_intaking_);
-    } else {
-      is_intaking_ = false;
-    }
+    is_intaking_ = data.IsPressed(kIntakeIn) &&
+                   (!ball_detected || saw_ball_when_started_intaking_);
 
     is_outtaking_ = data.IsPressed(kIntakeOut);