commit ddcf76a394cd42822f2ce313e81939ea0952033b
author Austin Schuh <austin@peloton-tech.com> Sun Mar 15 16:37:02 2015 -0700
committer Austin Schuh <austin@peloton-tech.com> Sun Mar 15 16:37:02 2015 -0700
tree 6e62b623ee1ae4b938c01e679df7a634f59634ae
parent b53df1a8f086e752a7e6e74714f2bef361933337

Make sure claw is down when picking up vertical cans.

Change-Id: Ida9173ee7f8aeba6227d47bc437e93d2d3a48d6c

frc971/actors/can_pickup_actor.cc

diff --git a/frc971/actors/can_pickup_actor.cc b/frc971/actors/can_pickup_actor.cc
index 7b43694..ee1d21e 100644
--- a/frc971/actors/can_pickup_actor.cc
+++ b/frc971/actors/can_pickup_actor.cc
@@ -18,6 +18,20 @@
     : FridgeActorBase<CanPickupActionQueueGroup>(queues) {}
 
 bool CanPickupActor::RunAction(const CanPickupParams &params) {
+  // Make sure the claw is down.
+  {
+    auto message = control_loops::claw_queue.goal.MakeMessage();
+    message->angle = 0.0;
+    message->angular_velocity = 0.0;
+    message->intake = 0.0;
+    message->rollers_closed = true;
+    message->max_velocity = 6.0;
+    message->max_acceleration = 10.0;
+
+    LOG_STRUCT(DEBUG, "Sending claw down goal", *message);
+    message.Send();
+  }
+
   // Go around the can.
   DoFridgeProfile(params.pickup_height, params.pickup_angle, kElevatorMove,
                   kArmMove, false);