rezero the shooter while unloading + test
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 820b15f..2cb688f 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -16,6 +16,7 @@
namespace testing {
class ShooterTest_UnloadWindupPositive_Test;
class ShooterTest_UnloadWindupNegative_Test;
+class ShooterTest_RezeroWhileUnloading_Test;
};
using ::aos::time::Time;
@@ -93,6 +94,9 @@
void CapGoal();
+ // Friend the test classes for acces to the internal state.
+ friend class testing::ShooterTest_RezeroWhileUnloading_Test;
+
private:
// The offset between what is '0' (0 rate on the spring) and the 0 (all the
// way cocked).
@@ -125,6 +129,7 @@
double PowerToPosition(double power);
double PositionToPower(double position);
+ void CheckCalibrations(const control_loops::ShooterGroup::Position *position);
typedef enum {
STATE_INITIALIZE = 0,
@@ -156,6 +161,7 @@
// Friend the test classes for acces to the internal state.
friend class testing::ShooterTest_UnloadWindupPositive_Test;
friend class testing::ShooterTest_UnloadWindupNegative_Test;
+ friend class testing::ShooterTest_RezeroWhileUnloading_Test;
// Enter state STATE_UNLOAD
void Unload() {