commit fa577e40882c74afe891e0bac9fbba8c6adfe13f
author Brian Silverman <brians> Sat Apr 19 12:03:00 2014 -0700
committer Brian Silverman <brians> Sat Apr 19 12:03:00 2014 -0700
tree 84fa23b4ed3854edd2ace22c04c0badaa5360e14
parent ab5ba473134effce4dccb50a3e8ebd4b2850e416

fixing issues with the redone auto

frc971/autonomous/auto.cc

diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index e6ecc2d..32f6979 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -243,7 +243,7 @@
 
   void Update() {
     hot_goal.FetchLatest();
-    LOG_STRUCT(INFO, "new counts", *hot_goal);
+    if (hot_goal.get()) LOG_STRUCT(INFO, "new counts", *hot_goal);
   }
 
   bool is_left() const {
@@ -366,7 +366,7 @@
   if (auto_version == AutoVersion::kDoubleHot) {
     if (ShouldExitAuto()) return;
     auto drivetrain_action =
-        SetDriveGoal(2, 2, first_shot_left ? kTurnAngle : -kTurnAngle);
+        SetDriveGoal(0, 2, first_shot_left ? kTurnAngle : -kTurnAngle);
     WaitUntilDoneOrCanceled(drivetrain_action.get());
     if (ShouldExitAuto()) return;
   }
@@ -380,7 +380,7 @@
   if (auto_version == AutoVersion::kDoubleHot) {
     if (ShouldExitAuto()) return;
     auto drivetrain_action =
-        SetDriveGoal(2, 2, first_shot_left ? -kTurnAngle : kTurnAngle);
+        SetDriveGoal(0, 2, first_shot_left ? -kTurnAngle : kTurnAngle);
     WaitUntilDoneOrCanceled(drivetrain_action.get());
     if (ShouldExitAuto()) return;
   }
@@ -434,7 +434,7 @@
   if (auto_version == AutoVersion::kDoubleHot) {
     if (ShouldExitAuto()) return;
     auto drivetrain_action =
-        SetDriveGoal(2, 2, second_shot_left ? kTurnAngle : -kTurnAngle);
+        SetDriveGoal(0, 2, second_shot_left ? kTurnAngle : -kTurnAngle);
     WaitUntilDoneOrCanceled(drivetrain_action.get());
     if (ShouldExitAuto()) return;
   }