commit 3cd11c5123056db87b2c9a98672a4fb9cd1baf4c
author Adam Snaider <adsnaider@gmail.com> Mon Feb 16 02:16:09 2015 +0000
committer Adam Snaider <adsnaider@gmail.com> Sun Mar 01 01:26:29 2015 +0000
tree 96356c01bd0401274a5593b11f4653545c428c97
parent 0a02d7d5c7148d4cc5480ee72225dca7c325a04d

Added detection of bad index zeroing pulse.

Change-Id: I1607ce0d37b336136a4a278afc8a0f2897d1c597

frc971/control_loops/claw/claw.cc

diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 0c12d27..004ea7a 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -52,8 +52,7 @@
 }
 
 void Claw::SetClawOffset(double offset) {
-  LOG(INFO, "Changing claw offset from %f to %f.\n",
-      claw_offset_, offset);
+  LOG(INFO, "Changing claw offset from %f to %f.\n", claw_offset_, offset);
   const double doffset = offset - claw_offset_;
 
   // Adjust the height. The derivative should not need to be updated since the
@@ -109,11 +108,10 @@
   return claw_zeroing_velocity_;
 }
 
-void Claw::RunIteration(
-    const control_loops::ClawQueue::Goal *unsafe_goal,
-    const control_loops::ClawQueue::Position *position,
-    control_loops::ClawQueue::Output *output,
-    control_loops::ClawQueue::Status *status) {
+void Claw::RunIteration(const control_loops::ClawQueue::Goal *unsafe_goal,
+                        const control_loops::ClawQueue::Position *position,
+                        control_loops::ClawQueue::Output *output,
+                        control_loops::ClawQueue::Status *status) {
   const auto &values = constants::GetValues();
 
   if (WasReset()) {
@@ -168,8 +166,8 @@
         SetClawOffset(claw_estimator_.offset());
       } else if (!disable) {
         claw_goal_velocity = claw_zeroing_velocity();
-        claw_goal_ += claw_goal_velocity *
-            ::aos::controls::kLoopFrequency.ToSeconds();
+        claw_goal_ +=
+            claw_goal_velocity * ::aos::controls::kLoopFrequency.ToSeconds();
       }
       break;
 
@@ -226,8 +224,7 @@
       double deltaR = claw_loop_->UnsaturateOutputGoalChange();
 
       // Move the claw goal by the amount observed.
-      LOG(WARNING, "Moving claw goal by %f to handle saturation.\n",
-          deltaR);
+      LOG(WARNING, "Moving claw goal by %f to handle saturation.\n", deltaR);
       claw_goal_ += deltaR;
     }
   }
@@ -260,9 +257,11 @@
   status->goal_angle = claw_goal_;
 
   if (output) {
-    status->rollers_open = !output->rollers_closed &&
+    status->rollers_open =
+        !output->rollers_closed &&
         (Time::Now() - last_piston_edge_ >= values.claw.piston_switch_time);
-    status->rollers_closed = output->rollers_closed &&
+    status->rollers_closed =
+        output->rollers_closed &&
         (Time::Now() - last_piston_edge_ >= values.claw.piston_switch_time);
   } else {
     status->rollers_open = false;

frc971/control_loops/claw/claw.h

diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 6abc082..381bd15 100644
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -37,8 +37,7 @@
   double max_voltage_;
 };
 
-class Claw
-    : public aos::controls::ControlLoop<control_loops::ClawQueue> {
+class Claw : public aos::controls::ControlLoop<control_loops::ClawQueue> {
  public:
   enum State {
     // Waiting to receive data before doing anything.
@@ -59,11 +58,10 @@
       control_loops::ClawQueue *claw_queue = &control_loops::claw_queue);
 
  protected:
-  virtual void RunIteration(
-      const control_loops::ClawQueue::Goal *goal,
-      const control_loops::ClawQueue::Position *position,
-      control_loops::ClawQueue::Output *output,
-      control_loops::ClawQueue::Status *status);
+  virtual void RunIteration(const control_loops::ClawQueue::Goal *goal,
+                            const control_loops::ClawQueue::Position *position,
+                            control_loops::ClawQueue::Output *output,
+                            control_loops::ClawQueue::Status *status);
 
  private:
   friend class testing::ClawTest_DisabledGoal_Test;
@@ -112,5 +110,4 @@
 }  // namespace control_loops
 }  // namespace frc971
 
-#endif // FRC971_CONTROL_LOOPS_CLAW_H_
-
+#endif  // FRC971_CONTROL_LOOPS_CLAW_H_