Added a zeroing procedure.
Change-Id: Ib329f1a02772e36d737a0a1d0f5114b2b5acc029
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index f3d8752..d20b345 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -27,21 +27,19 @@
// Updates our estimator with the latest position.
void Correct(::frc971::PotAndIndexPosition position);
+ // Runs the controller and profile generator for a cycle.
+ void Update(bool disabled);
+ // Sets the maximum voltage that will be commanded by the loop.
+ void set_max_voltage(double voltage);
// Forces the current goal to the provided goal, bypassing the profiler.
void ForceGoal(double goal);
// Sets the unprofiled goal. The profiler will generate a profile to go to
// this goal.
void set_unprofiled_goal(double unprofiled_goal);
-
- // Runs the controller and profile generator for a cycle.
- void Update(bool disabled);
-
// Limits our profiles to a max velocity and acceleration for proper motion.
void AdjustProfile(double max_angular_velocity,
double max_angular_acceleration);
- // Sets the maximum voltage that will be commanded by the loop.
- void set_max_voltage(double voltage);
// Returns true if we have exceeded any hard limits.
bool CheckHardLimits();