commit d85c66e12cae1c5b0738b841896cb0a45fb273ad
author Austin Schuh <austin.linux@gmail.com> Sun Apr 16 10:50:33 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun May 28 17:02:03 2017 -0700
tree df17c14d049c69a915630334aba5cfac24861b41
parent c102622eb2003cd92dc170006aa791c664ec2bca

Reset the vision averagers and trackers on button release.

Change-Id: If07ea4fdc9ab26752e6d7664998a69ddc84643b1

y2017/control_loops/superstructure/superstructure.cc

diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 1faed36..95c771b 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -51,6 +51,10 @@
     shooter_goal = unsafe_goal->shooter;
     indexer_goal = unsafe_goal->indexer;
 
+    if (!unsafe_goal->use_vision_for_shots) {
+      distance_average_.Reset();
+    }
+
     distance_average_.Tick(::aos::monotonic_clock::now(), vision_status);
     status->vision_distance = distance_average_.Get();
     if (distance_average_.Valid()) {