Added detection of bad index zeroing pulse.
Change-Id: I1607ce0d37b336136a4a278afc8a0f2897d1c597
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 7fa2262..08911ac 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -102,6 +102,12 @@
// Marker to track whether an error has occurred. This gets reset to false
// whenever Reset() is called.
bool error_;
+ // Stores the position "start_pos" variable the first time the program
+ // is zeroed.
+ double first_start_pos_;
+ // Value between 0 and 1 which determines a fraction of the index_diff
+ // you want to use.
+ double allowable_encoder_error_;
};
// Populates an EstimatorState struct with information from the zeroing