commit e2b1dd1ad73a5f7fdf683e687b6bfb8dee5726df
author Ben Fredrickson <ben.fred12345@gmail.com> Fri Mar 27 21:18:08 2015 -0700
committer Michael Schuh <michael@boardsailor.com> Sun Mar 29 14:02:21 2015 -0700
tree 38ef54a90d07c2757beadb2a4c1c2c5790735739
parent da4f381c71af2b27e9acb834f26c5bef61a53f49

Removed open of the grabber for stack action compatability with the fangs

Change-Id: I5bff1860f7ff6dafe1dd37b398fe3d125b5111d7

frc971/actors/stack_actor.cc

diff --git a/frc971/actors/stack_actor.cc b/frc971/actors/stack_actor.cc
index 3b80184..49fbf98 100644
--- a/frc971/actors/stack_actor.cc
+++ b/frc971/actors/stack_actor.cc
@@ -75,20 +75,25 @@
   }
 
   if (params.only_place) {
+    // open grabber for place only
     DoFridgeProfile(params.bottom + values.tote_height, 0.0, kFastElevatorMove,
                     kFastArmMove, false);
     // Finish early if we aren't supposed to grab.
     return true;
   }
 
-  DoFridgeProfile(params.bottom + values.tote_height, params.arm_clearance,
+  // TODO(ben): I'm not sure why this liitle jog is here. we are removing it for
+  // the fangs, but I want to keep the code here so austin can explain.
+  /*DoFridgeProfile(params.bottom + values.tote_height, params.arm_clearance,
                   kFastElevatorMove, kFastArmMove, false);
 
   if (ShouldCancel()) return true;
   DoFridgeProfile(params.bottom, params.arm_clearance, kFastElevatorMove,
-                  kFastArmMove, false);
+                  kFastArmMove, false);*/
   if (ShouldCancel()) return true;
-  DoFridgeProfile(params.bottom, 0.0, kFastElevatorMove, kFastArmMove, false);
+  // grab can (if in fang mode the grabber stays closed)
+  DoFridgeProfile(params.bottom, 0.0, kFastElevatorMove, kFastArmMove, false,
+                  true, true);
   if (ShouldCancel()) return true;
   aos::time::SleepFor(aos::time::Time::InMS(200));
 

frc971/actors/stack_and_hold_actor.cc

diff --git a/frc971/actors/stack_and_hold_actor.cc b/frc971/actors/stack_and_hold_actor.cc
index 2acb415..ab9b077 100644
--- a/frc971/actors/stack_and_hold_actor.cc
+++ b/frc971/actors/stack_and_hold_actor.cc
@@ -23,6 +23,9 @@
     : FridgeActorBase<StackAndHoldActionQueueGroup>(queues) {}
 
 bool StackAndHoldActor::RunAction(const StackAndHoldParams &params) {
+  // TODO(ben)): this action is no longer used (source Cameron) and my be broken
+  // by the stack action having the grabbers closed at the end for the fangs. So
+  // here I am disabling it until further information is provided.
   if (params.place_not_stack) {
     // Move the arm out of the way.
     {