commit b1d682b3dc7cfd5cf1ddd52ca77eea8d1912eaff
author Austin Schuh <austin.linux@gmail.com> Tue Feb 16 13:07:44 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Tue Feb 16 13:32:17 2016 -0800
tree b8f2f9bfec38303ab3bb4201af9ad0c080c68e41
parent 6ce2c6e1d4ef730e07b35ca7f849bd86e5ecc493

Explicitly land the shooter in the belly-pan.

Change-Id: Ib73b9627f7650a16f8a3b6f86a16a1b6531404a1

y2016/control_loops/superstructure/superstructure_controls.cc

diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
index 0798824..0c4ac70 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.cc
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -129,7 +129,8 @@
   if (angle() > constants::Values::kIntakeRange.upper_hard ||
       angle() < constants::Values::kIntakeRange.lower_hard) {
     LOG(ERROR, "Intake at %f out of bounds [%f, %f], ESTOPing\n", angle(),
-        constants::Values::kIntakeRange.lower_hard, constants::Values::kIntakeRange.upper_hard);
+        constants::Values::kIntakeRange.lower_hard,
+        constants::Values::kIntakeRange.upper_hard);
     return true;
   }
 
@@ -320,10 +321,13 @@
     return true;
   }
 
-  if (wrist_angle() - shoulder_angle() > constants::Values::kWristRange.upper_hard ||
-      wrist_angle() - shoulder_angle() < constants::Values::kWristRange.lower_hard) {
+  if (wrist_angle() - shoulder_angle() >
+          constants::Values::kWristRange.upper_hard ||
+      wrist_angle() - shoulder_angle() <
+          constants::Values::kWristRange.lower_hard) {
     LOG(ERROR, "Wrist at %f out of bounds [%f, %f], ESTOPing\n",
-        wrist_angle() - shoulder_angle(), constants::Values::kWristRange.lower_hard,
+        wrist_angle() - shoulder_angle(),
+        constants::Values::kWristRange.lower_hard,
         constants::Values::kWristRange.upper_hard);
     return true;
   }