commit 084372e8376c11f2d7c2b23fa392f7c6b369f960
author Brian Silverman <brians> Thu Apr 10 10:55:53 2014 -0700
committer Brian Silverman <brians> Thu Apr 10 10:55:53 2014 -0700
tree cf2a02c9861fb478587180afda95c4964941379d
parent 176303a07c026e2c08d76333bde147e60ab7c515

added rezeroing if we ever get off

frc971/control_loops/claw/claw.h

diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index ac63b36..35bbf0f 100644
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -164,6 +164,9 @@
 
   bool SetCalibrationOnEdge(const constants::Values::Claws::Claw &claw_values,
                             JointZeroingState zeroing_state);
+  double ComputeCalibrationChange(double edge_encoder, double edge_angle);
+  void HandleCalibrationError(
+      const constants::Values::Claws::Claw &claw_values);
 };
 
 class BottomZeroedStateFeedbackLoop : public ZeroedStateFeedbackLoop {
@@ -176,6 +179,9 @@
 
   bool SetCalibrationOnEdge(const constants::Values::Claws::Claw &claw_values,
                             JointZeroingState zeroing_state);
+  double ComputeCalibrationChange(double edge_encoder, double edge_angle);
+  void HandleCalibrationError(
+      const constants::Values::Claws::Claw &claw_values);
 };
 
 class ClawMotor : public aos::control_loops::ControlLoop<