commit 180e2b81c0dff1c8d486b2b9f608364ba5c17680
author Brian Silverman <brians> Mon Apr 08 14:29:56 2013 -0700
committer Brian Silverman <brians> Mon Apr 08 14:29:56 2013 -0700
tree b083008599fc83d04810d908dadc5a420a5ed8e1
parent e13fa4ec631361df0deb129c8b1e38f8b50e5595

added more manual overrides to the indexer

frc971/control_loops/index/index.cc

diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index bec7992..0e5270a 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -999,7 +999,11 @@
   if (output) {
     output->intake_voltage = intake_voltage;
     output->transfer_voltage = transfer_voltage;
-    output->index_voltage = wrist_loop_->U(0, 0);
+    if (goal->override_index) {
+      output->index_voltage = goal->index_voltage;
+    } else {
+      output->index_voltage = wrist_loop_->U(0, 0);
+    }
     output->loader_up = loader_up_;
     output->disc_clamped = disc_clamped_;
     output->disc_ejected = disc_ejected_;