zeroing: Support first index pulse at non-zero positions.
Change-Id: I13cd11cfc46af27640e3fe7f63795475ae901f8a
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 13be062..5566533 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -7,9 +7,6 @@
#include "frc971/control_loops/control_loops.q.h"
#include "frc971/constants.h"
-// TODO(pschrader): Support the ZeroingConstants::measured_index_position
-// parameter.
-//
// TODO(pschrader): Create an error API to flag faults/errors etc..
//
// TODO(pschrader): Flag an error if encoder index pulse is not n revolutions
@@ -76,6 +73,9 @@
// The estimated starting position of the mechanism. We also call this the
// 'offset' in some contexts.
double start_pos_;
+ // The absolute position of any index pulse on the mechanism. This is used to
+ // account for the various ways the encoders get mounted into the robot.
+ double known_index_pos_;
// Flag for triggering logic that takes note of the current index pulse count
// after a reset. See `index_pulse_count_after_reset_'.
bool wait_for_index_pulse_;