commit ea91f59ca0ee47be00a35bff1646f01afe79c31b
author Brian Silverman <brians> Sat Mar 28 18:25:57 2015 -0400
committer Brian Silverman <brians> Sat Mar 28 18:29:59 2015 -0400
tree 9509eca945c11535c3edc6a2cc3350af1a25fd6f
parent f1c5e7d53273060e3b97a438967a8a188cf91165

remember to Tick() the action queue while disabled

Change-Id: I549729b7b6d49fd0aa082362be432d2ebdf3fc31

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 9394c05..95f369a 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -400,15 +400,13 @@
     fridge_queue.status.FetchLatest();
     if (!claw_queue.status.get()) {
       LOG(ERROR, "Got no claw status packet.\n");
-      // Not safe to continue.
-      return;
     }
     if (!fridge_queue.status.get()) {
       LOG(ERROR, "Got no fridge status packet.\n");
-      return;
     }
 
-    if (claw_queue.status->zeroed && fridge_queue.status->zeroed) {
+    if (claw_queue.status.get() && fridge_queue.status.get() &&
+        claw_queue.status->zeroed && fridge_queue.status->zeroed) {
       if (waiting_for_zero_) {
         LOG(INFO, "Zeroed! Starting teleop mode.\n");
         waiting_for_zero_ = false;
@@ -420,7 +418,6 @@
       }
     } else {
       waiting_for_zero_ = true;
-      return;
     }
 
     if (!waiting_for_zero_) {
@@ -473,7 +470,7 @@
       if (control_loops::claw_queue.status.get()) {
         claw_goal_ = control_loops::claw_queue.status->goal_angle;
       } else {
-        LOG(ERROR, "No fridge status!\n");
+        LOG(ERROR, "No claw status!\n");
       }
     }
     action_queue_.Tick();