Make intake roller not spin on restart
Joystick reader was getting the intake posistion before it was zeroed.
It thought the intake was out because the "in" position is less than 0.
Change-Id: I0cbf7045ac176980b998d6e4c1680868cfdcda36
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index e52708e..9934571 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -151,6 +151,7 @@
}
if (superstructure_status_fetcher_.get() &&
+ superstructure_status_fetcher_->intake()->zeroed() &&
superstructure_status_fetcher_->intake()->position() > -0.5) {
roller_speed = std::max(roller_speed, 6.0f);
roller_speed_compensation = 2.0f;