Claw now zeros, though slowly. Not sure about high speeds yet and the constants seem wrong.
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index 8f435fb..763f005 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -463,7 +463,14 @@
// If it is latched and the plunger is back, move the pusher back to catch
// the plunger.
- if (position->plunger && position->latch) {
+ bool all_back;
+ if (position) {
+ all_back = position->plunger && position->latch;
+ } else {
+ all_back = last_position_.plunger && last_position_.latch;
+ }
+
+ if (all_back) {
// Pull back to 0, 0.
shooter_.SetGoalPosition(0.0, 0.0);
if (shooter_.absolute_position() < 0.005) {