| commit | 0e1c2c608b5613173819b7cc1f6f69d22875f064 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Tue Feb 21 02:03:25 2017 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Tue Feb 21 02:03:25 2017 -0800 |
| tree | 727cab41e2821394605587e0c461ea6847f3d52a | |
| parent | 7cce2d3cd738a6208339f45c8bd150fcd070104b [diff] [blame] |
Added filtered absolute encoder. Change-Id: I2b22f251b4585e3cc93d0ad10a1cf7e80dc6731b
diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.q index cb95df8..4d87587 100644 --- a/frc971/control_loops/control_loops.q +++ b/frc971/control_loops/control_loops.q
@@ -75,6 +75,10 @@ // The estimated position not using the index pulse. double pot_position; + + // The estimated absolute position of the encoder. This is filtered, so it + // can be easily used when zeroing. + double absolute_position; }; // The internal state of a zeroing estimator.