commit 2e9768153ddf67ebe83df4c9ed5d522e99b20354
author Austin Schuh <austin@peloton-tech.com> Wed Mar 05 19:56:58 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Wed Mar 05 19:56:58 2014 -0800
tree bd46868694baa3b6bad435859f7c20e4d60f425b
parent d30d7380a51c17a853f7d0f5994951f25d88c1c5

Added additional verification for the shooter.

frc971/control_loops/shooter/shooter.cc

diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index 8b9d427..d8f19b4 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -115,7 +115,9 @@
       shot_count_(0),
       zeroed_(false),
       distal_posedge_validation_cycles_left_(0),
-      proximal_posedge_validation_cycles_left_(0) {}
+      proximal_posedge_validation_cycles_left_(0),
+      last_distal_current_(true),
+      last_proximal_current_(true) {}
 
 double ShooterMotor::PowerToPosition(double power) {
   const frc971::constants::Values &values = constants::GetValues();
@@ -175,6 +177,8 @@
 
   if (reset()) {
     state_ = STATE_INITIALIZE;
+    last_distal_current_ = position->pusher_distal.current;
+    last_proximal_current_ = position->pusher_proximal.current;
   }
   if (position) {
     shooter_.CorrectPosition(position->position);
@@ -318,7 +322,8 @@
         // TODO(austin): Validate that this is the right edge.
         // If we see a posedge on any of the hall effects,
         if (position->pusher_proximal.posedge_count !=
-            last_proximal_posedge_count_) {
+                last_proximal_posedge_count_ &&
+            !last_proximal_current_) {
           proximal_posedge_validation_cycles_left_ = 2;
         }
         if (proximal_posedge_validation_cycles_left_ > 0) {
@@ -338,7 +343,8 @@
         }
 
         if (position->pusher_distal.posedge_count !=
-            last_distal_posedge_count_) {
+                last_distal_posedge_count_ &&
+            !last_distal_current_) {
           distal_posedge_validation_cycles_left_ = 2;
         }
         if (distal_posedge_validation_cycles_left_ > 0) {
@@ -636,6 +642,8 @@
   if (position) {
     last_distal_posedge_count_ = position->pusher_distal.posedge_count;
     last_proximal_posedge_count_ = position->pusher_proximal.posedge_count;
+    last_distal_current_ = position->pusher_distal.current;
+    last_proximal_current_ = position->pusher_proximal.current;
   }
 
   status->shots = shot_count_;

frc971/control_loops/shooter/shooter.h

diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index d5fa2a9..a2d405b 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -201,6 +201,8 @@
   bool zeroed_;
   int distal_posedge_validation_cycles_left_;
   int proximal_posedge_validation_cycles_left_;
+  bool last_distal_current_;
+  bool last_proximal_current_;
 
   DISALLOW_COPY_AND_ASSIGN(ShooterMotor);
 };