commit 261c40594c90179a364d3dc44759441101de7433
author Austin Schuh <austin@aschuh-glaptop.(none)> Tue Mar 19 03:29:54 2013 +0000
committer Brian Silverman <brians> Sat Mar 30 16:35:11 2013 -0700
tree 7bb5004359f3032429c5e90fbcced438c45be58d
parent 0fd07b1f91ef93668053d9633e0033b88c38f9c7

Delaying forcing a rezero for 2 seconds to deal with bad comms.

frc971/control_loops/zeroed_joint.h

diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index cd124de..7d549d3 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -271,6 +271,9 @@
     error_count_ = 0;
   }
   if (error_count_ >= 4) {
+    output_enabled = false;
+    LOG(WARNING, "err_count is %d so disabling\n", error_count_);
+  } else if (error_count_ >= 200) {
     LOG(WARNING, "err_count is %d so forcing a re-zero\n", error_count_);
     state_ = UNINITIALIZED;
   }
@@ -413,7 +416,11 @@
       }
       break;
   }
-  return loop_->voltage();
+  if (output_enabled) {
+    return loop_->voltage();
+  } else {
+    return 0.0;
+  }
 }
 
 }  // namespace control_loops