flipped the shifter pneumatics back
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 9a84a08..299437e 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -193,8 +193,8 @@
if (output) {
output->left_voltage = loop_->U(0, 0);
output->right_voltage = loop_->U(1, 0);
- output->left_high = true;
- output->right_high = true;
+ output->left_high = false;
+ output->right_high = false;
}
}
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 43abbaf..ddb03fe 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -194,7 +194,7 @@
class Reader : public ::aos::input::JoystickInput {
public:
Reader()
- : is_high_gear_(true),
+ : is_high_gear_(false),
shot_power_(80.0),
goal_angle_(0.0),
separation_angle_(kGrabSeparation),
diff --git a/frc971/output/motor_writer.cc b/frc971/output/motor_writer.cc
index 9cf96af..a81896f 100644
--- a/frc971/output/motor_writer.cc
+++ b/frc971/output/motor_writer.cc
@@ -44,8 +44,8 @@
LOG_STRUCT(DEBUG, "will output", *drivetrain);
SetPWMOutput(3, drivetrain->right_voltage / 12.0, kTalonBounds);
SetPWMOutput(6, -drivetrain->left_voltage / 12.0, kTalonBounds);
- SetSolenoid(7, !drivetrain->left_high);
- SetSolenoid(8, !drivetrain->right_high);
+ SetSolenoid(7, drivetrain->left_high);
+ SetSolenoid(8, drivetrain->right_high);
} else {
DisablePWMOutput(3);
DisablePWMOutput(8);