commit 18f6d876d85dc575c1a046daaa878a6e225fa347
author Brian Silverman <brians> Sat Mar 16 13:55:46 2013 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 16 17:27:13 2013 -0700
tree dcb46c3167ed41496316920081c095b706db5e7a
parent 893ba072d626d2ecc72ecc062ee2e3ec6141b291

fixes for the wrist code

wrist constants and starting

added printing of absolute pos to wrist

tweaked the wrist zeroing speed

Conflicts:
	frc971/constants.cpp

frc971/control_loops/wrist/wrist.cc

diff --git a/frc971/control_loops/wrist/wrist.cc b/frc971/control_loops/wrist/wrist.cc
index e364cd6..8c4ae1a 100644
--- a/frc971/control_loops/wrist/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -87,9 +87,10 @@
     goal->goal, 0.0);
 
   if (position) {
-    //LOG(DEBUG, "pos=%f zero=%f currently %f hall: %s\n",
-        //position->pos, zero_offset_, absolute_position,
-        //position->hall_effect ? "true" : "false");
+    LOG(DEBUG, "pos: %f hall: %s absolute: %f\n",
+        position->pos,
+        position->hall_effect ? "true" : "false",
+        zeroed_joint_.absolute_position());
   }
 
   if (output) {