| commit | 3ad5ed8359234dbeafbd1522208151176ac17173 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Feb 25 21:36:19 2017 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Mar 04 17:55:14 2017 -0800 |
| tree | 8b92838ac356fcf038b3f2984d9ef4d5d16e949e | |
| parent | e91f14ce0d3569b224c85d8ca29b6697e20241f0 [diff] [blame] |
Added a hybrid KF for the shooter. Change-Id: If3ba2e6978773aef2e63c9bfeb0cc6e2dec483d5
diff --git a/y2017/control_loops/superstructure/indexer/indexer.cc b/y2017/control_loops/superstructure/indexer/indexer.cc index 6186f7f..0560ec4 100644 --- a/y2017/control_loops/superstructure/indexer/indexer.cc +++ b/y2017/control_loops/superstructure/indexer/indexer.cc
@@ -116,7 +116,8 @@ position_error_ = X_hat_current_(0, 0) - Y_(0, 0); loop_->Update(disabled); - stuck_indexer_detector_->UpdateObserver(loop_->U()); + stuck_indexer_detector_->UpdateObserver(loop_->U(), + ::aos::controls::kLoopFrequency); } void IndexerController::SetStatus(IndexerStatus *status) {