From 25dee5ba7f434bb3723e4559146074406bc57dd9 Mon Sep 17 00:00:00 2001
From: BCNOFNeNaMg <47834221+BCNOFNeNaMg@users.noreply.github.com>
Date: Sat, 28 Oct 2023 18:32:01 -0700
Subject: [PATCH] deleted unnecessary code

---
 .../java/com/team766/robot/procedures/GyroBalance.java    | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/src/main/java/com/team766/robot/procedures/GyroBalance.java b/src/main/java/com/team766/robot/procedures/GyroBalance.java
index d6c03c9..d44e3d0 100644
--- a/src/main/java/com/team766/robot/procedures/GyroBalance.java
+++ b/src/main/java/com/team766/robot/procedures/GyroBalance.java
@@ -106,13 +106,6 @@ public void run(Context context) {
 		}
 		// Loops until robot is level or until a call to the abort() method
 		while (!(curState == State.RAMP_LEVEL));
-
-		// After the robot is level, drives for correctionDelay seconds.
-		// Direction is opposite due to inversion of speed in setState() so it corrects for overshooting
-		context.waitForSeconds(CORRECTION_DELAY);
-
-		context.releaseOwnership(Robot.drive);
-		context.releaseOwnership(Robot.gyro);
 	} 
 
 	// Sets state in state machine, see more details in GyroBalance.md
@@ -136,6 +129,7 @@ private void setState(Context context) {
 			context.startAsync(new SetCross());
 			log("Level, prevState: " + prevState + ", curState: " + curState);
 			context.waitForSeconds(1);
+			tilt = Robot.gyro.getAbsoluteTilt();
 			if (tilt < LEVEL) {
 				curState = State.RAMP_LEVEL;
 			} else {