commit 1a49994d6f504fbd1b96081ef94aa43314161566
author Austin Schuh <austin@peloton-tech.com> Mon Feb 17 01:51:58 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Mon Feb 17 01:51:58 2014 -0800
tree 0d67d7cf0cad5de74f727ce667a78d500d4584ca
parent 3d6e3dfc426ad78271175f61ee9fcdff023cbcc8

Claw now handles sensor resets properly.

frc971/control_loops/claw/claw.cc

diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 8fbf00f..60ce35a 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -220,6 +220,11 @@
   // TODO(austin): Handle zeroing while disabled correctly (only use a single
   //     edge and direction when zeroing.)
 
+  if (reset()) {
+    bottom_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
+    top_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
+  }
+
   if (::aos::robot_state.get() == nullptr) {
     return;
   }