commit 026b8869434f9de9e4212b3a3906dc7d92df7881
author Brian Silverman <bsilver16384@gmail.com> Sat Feb 14 22:51:49 2015 -0800
committer Gerrit Code Review <gerrit@robotics.mvla.net> Sat Feb 14 22:51:49 2015 -0800
tree 6ea6227fc59afdd27ecc3bd7ba076b6409656077
parent 47bf690362708ead4b33a0880caf4e9dc40f7e4f
parent 482a4e1fc1619d3e0c02f069e077240959127fb1

Merge "Fridge handles null goal."

frc971/control_loops/fridge/fridge.cc

diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index 83645e9..9533ddf 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -68,10 +68,10 @@
           constants::GetValues().fridge.right_elev_zeroing) {}
 
 void Fridge::UpdateZeroingState() {
-  if (left_elevator_estimator_.offset_ratio_ready() < 0.5 ||
-      right_elevator_estimator_.offset_ratio_ready() < 0.5 ||
-      left_arm_estimator_.offset_ratio_ready() < 0.5 ||
-      right_arm_estimator_.offset_ratio_ready() < 0.5) {
+  if (left_elevator_estimator_.offset_ratio_ready() < 1.0 ||
+      right_elevator_estimator_.offset_ratio_ready() < 1.0 ||
+      left_arm_estimator_.offset_ratio_ready() < 1.0 ||
+      right_arm_estimator_.offset_ratio_ready() < 1.0) {
     state_ = INITIALIZING;
   } else if (!left_elevator_estimator_.zeroed() ||
       !right_elevator_estimator_.zeroed()) {