commit 2f76ddfbdba4241a56a0f7762a7d9da06a45b2de
author Ben Fredrickson <ben.fred12345@gmail.com> Sun Feb 23 05:58:23 2014 +0000
committer Ben Fredrickson <ben.fred12345@gmail.com> Sun Feb 23 05:58:23 2014 +0000
tree 778f5b49385b4973bd78406db38e158d36771247
parent 6b42860ab996badd0a21346acc3e39dcaafdcbe1

use a standard map, monotonic controller for the intake and tusk control loop.

frc971/control_loops/claw/claw.cc

diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 00dca6f..e1bf8a5 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -683,6 +683,11 @@
   }
 
   if (output) {
+    if (goal) {
+      //setup the intake
+      output->intake_voltage = goal->intake;
+      output->tusk_voltage = goal->centering;
+    }
     output->top_claw_voltage = claw_.U(1, 0) + claw_.U(0, 0);
     output->bottom_claw_voltage =  claw_.U(0, 0);
 

frc971/control_loops/claw/claw.q

diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 333f83c..233a3ea 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -31,7 +31,10 @@
     double bottom_angle;
     // How much higher the top claw is.
     double separation_angle;
-    bool intake;
+	// top claw intake roller
+    double intake;
+	// bottom claw tusk centering
+	double centering;
   };
 
   message Position {