commit b2e840a04293c4397cac6f811a6b08b01c3bd190
author milind upadhyay <milind.upadhyay@gmail.com> Sat Mar 27 13:54:49 2021 -0700
committer milind upadhyay <milind.upadhyay@gmail.com> Sat Mar 27 13:54:49 2021 -0700
tree caf782005708ae8e27ecee80e889db3c9bfa19ab
parent 8d39df03d443cbe25c620db1222f3517d14f67fa

Retract intake in Reset method

Change-Id: Ic2a475264b09867b773c54b09d1647951c2347f9

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index d78f7fc..c2e2999 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -48,6 +48,7 @@
 void AutonomousActor::Reset() {
   InitializeEncoders();
   ResetDrivetrain();
+  RetractIntake();
 
   joystick_state_fetcher_.Fetch();
   CHECK(joystick_state_fetcher_.get() != nullptr)
@@ -152,7 +153,6 @@
 }
 
 void AutonomousActor::AutoNavBounce() {
-  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {
@@ -202,7 +202,6 @@
 }
 
 void AutonomousActor::AutoNavBarrel() {
-  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {
@@ -222,7 +221,6 @@
 }
 
 void AutonomousActor::AutoNavSlalom() {
-  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {
@@ -242,7 +240,6 @@
 }
 
 void AutonomousActor::SplineAuto() {
-  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {