commit faeee637d1e9bc06d96b73da4528902473bd4f7b
author Austin Schuh <austin@peloton-tech.com> Tue Feb 18 01:24:05 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Tue Feb 18 01:24:05 2014 -0800
tree 52d2279a03ac594ff9a72458e28384f6e454f705
parent 30537888a72648d6703e93edea7e2c8a500770d0

Fixed shooter Firing test\!

frc971/control_loops/shooter/shooter.cc

diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index c22b899..11823fc 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -192,8 +192,8 @@
       // TODO(austin): Windup here and below!
       if (!disabled) {
         shooter_.SetGoalPosition(
-            shooter_.goal_position() - values.shooter.zeroing_speed * dt,
-            -values.shooter.zeroing_speed);
+            shooter_.goal_position() + values.shooter.zeroing_speed * dt,
+            values.shooter.zeroing_speed);
       }
 
       if (position) {