Actually run down estimator in drivetrain
Change-Id: I8602c448b632e966fe3f252b48a0f7ec0726285e
diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
index e95c231..5f53e0d 100644
--- a/frc971/zeroing/imu_zeroer.h
+++ b/frc971/zeroing/imu_zeroer.h
@@ -11,6 +11,8 @@
class ImuZeroer {
public:
// Average 5 seconds of data (assuming 2kHz sampling rate).
+ // TODO(james): Make the gyro zero in a constant amount of time, rather than a
+ // constant number of samples...
static constexpr size_t kSamplesToAverage = 10000.0;
ImuZeroer();