commit 0e484f98fea699dd7a4e32eb25b398919f1fbccf
author Sabina Davis <sabina1109@gmail.com> Sun Feb 23 17:47:53 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 23 22:28:40 2020 -0800
tree 44ae14cd06af78d45ef0cdb5b8dc81be710e5103
parent 364ad3d77a8fd8d550a972c4fdb66cb48a98f123

Quiet down profiled subsystem

Change-Id: I1a723aa561e1329535e3567bb2be38f5a7cb2bc3

y2017/control_loops/superstructure/hood/hood.cc

diff --git a/y2017/control_loops/superstructure/hood/hood.cc b/y2017/control_loops/superstructure/hood/hood.cc
index 3dcd806..4f1a4eb 100644
--- a/y2017/control_loops/superstructure/hood/hood.cc
+++ b/y2017/control_loops/superstructure/hood/hood.cc
@@ -29,7 +29,8 @@
           0.5, 10.0) {}
 
 void IndexPulseProfiledSubsystem::CapGoal(const char *name,
-                                          Eigen::Matrix<double, 3, 1> *goal) {
+                                          Eigen::Matrix<double, 3, 1> *goal,
+                                          bool print) {
   if (zeroed()) {
     ::frc971::control_loops::SingleDOFProfiledSubsystem<
         ::frc971::zeroing::PulseIndexZeroingEstimator>::CapGoal(name, goal);
@@ -40,13 +41,17 @@
     // enough to find them (and the index pulse which might be right next to
     // one).
     if ((*goal)(0, 0) > kMaxRange) {
-      AOS_LOG(WARNING, "Goal %s above limit, %f > %f\n", name, (*goal)(0, 0),
-              kMaxRange);
+      if (print) {
+        AOS_LOG(WARNING, "Goal %s above limit, %f > %f\n", name, (*goal)(0, 0),
+                kMaxRange);
+      }
       (*goal)(0, 0) = kMaxRange;
     }
     if ((*goal)(0, 0) < -kMaxRange) {
-      AOS_LOG(WARNING, "Goal %s below limit, %f < %f\n", name, (*goal)(0, 0),
-              kMaxRange);
+      if (print) {
+        AOS_LOG(WARNING, "Goal %s below limit, %f < %f\n", name, (*goal)(0, 0),
+                kMaxRange);
+      }
       (*goal)(0, 0) = -kMaxRange;
     }
   }

y2017/control_loops/superstructure/hood/hood.h

diff --git a/y2017/control_loops/superstructure/hood/hood.h b/y2017/control_loops/superstructure/hood/hood.h
index 7778152..8284e6e 100644
--- a/y2017/control_loops/superstructure/hood/hood.h
+++ b/y2017/control_loops/superstructure/hood/hood.h
@@ -21,7 +21,8 @@
   IndexPulseProfiledSubsystem();
 
  private:
-  void CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal) override;
+  void CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal,
+               bool print) override;
 };
 
 class Hood {