| commit | e2843c6b3648a8c2bcc953a892e90c9579dcaab8 | [log] [tgz] |
|---|---|---|
| author | Diana Vandenberg <dkvandenberg2@gmail.com> | Sat Feb 13 17:44:20 2016 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Mon Feb 15 14:31:38 2016 -0800 |
| tree | f187c3ca1100211e59116ed638f158e818357b0a | |
| parent | 9aa7a28150bcf75164cfa8dc563181a31d490de1 [diff] [blame] |
Propagated zeroing errors to superstructure so it ESTOPs Change-Id: I0dd424267aa737a09867ebab541f7cdf7dd30523
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc index cdbceb4..bf4d3b5 100644 --- a/y2016/control_loops/superstructure/superstructure.cc +++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -119,6 +119,10 @@ // LOW_ARM_ZERO works by moving the intake out of the way, lifting the arm up, // leveling the shooter, and then moving back down. + if (arm_.error() || intake_.error()) { + state_ = ESTOP; + } + switch (state_) { case UNINITIALIZED: // Wait in the uninitialized state until both the arm and intake are