commit 16bcb5f966cbdd4e53db7a5dfcaec6999acc81f8
author James Kuszmaul <james@james-HP-ubuntu.(none)> Sun Mar 03 14:50:07 2013 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 09 22:09:45 2013 -0800
tree 85f6205eaa1d1fe3c81c3cdf2ff5695cf61682b2
parent 2c72df863dc89d1d45353c085541f7079c653559

Got angle adjust working with limiting the zeroing goal.

frc971/control_loops/hall_effect_loop-inl.h

diff --git a/frc971/control_loops/hall_effect_loop-inl.h b/frc971/control_loops/hall_effect_loop-inl.h
index f5deb67..29c4273 100644
--- a/frc971/control_loops/hall_effect_loop-inl.h
+++ b/frc971/control_loops/hall_effect_loop-inl.h
@@ -59,15 +59,17 @@
 
 template <int kNumHallEffect>
 void HallEffectLoop<kNumHallEffect>::LimitZeroingGoal() {
-  if (loop_->U_uncapped(0, 0) > kMaxZeroingVoltage) {
-    double excess = (loop_->U_uncapped(0, 0) - kMaxZeroingVoltage)
-                    / loop_->K(0, 0);
-    zeroing_position_ -= excess;
-  }
-  if (loop_->U_uncapped(0, 0) < -kMaxZeroingVoltage) {
-    double excess = (loop_->U_uncapped(0, 0) + kMaxZeroingVoltage)
-                    / loop_->K(0, 0);
-    zeroing_position_ -= excess;
+  if (state_ == MOVING_OFF || state_ == ZEROING) {
+    if (loop_->U_uncapped(0, 0) > kMaxZeroingVoltage) {
+      double excess = (loop_->U_uncapped(0, 0) - kMaxZeroingVoltage)
+                      / loop_->K(0, 0);
+      zeroing_position_ -= excess;
+    }
+    if (loop_->U_uncapped(0, 0) < -kMaxZeroingVoltage) {
+      double excess = (loop_->U_uncapped(0, 0) + kMaxZeroingVoltage)
+                      / loop_->K(0, 0);
+      zeroing_position_ -= excess;
+    }
   }
 }
 
@@ -182,10 +184,6 @@
       return;
   }
 
-  if (state_ == MOVING_OFF || state_ == ZEROING) {
-    LimitZeroingGoal();
-  }
-
   if (good_position) {
     LOG(DEBUG, 
         "calibration sensor: %d zero_offset: %f absolute_position: %f\n",