commit 3f5b618523b4e7f9bde7ec4d9677e8bf7bd8c30b
author Philipp Schrader <philipp.schrader@gmail.com> Sat Mar 25 22:36:37 2017 +0000
committer Diana Vandenberg <dkvandenberg2@gmail.com> Wed Jun 28 20:47:37 2017 -0700
tree ea05b6afadb0fad1363116e28a5c67bec500504f
parent d0629b1339e67e422df6c2d378b1684752d7a8c0

Detect slipping on the PulseIndexZeroingEstimator

This only works after zeroing, not during, but it's a great start.

Change-Id: Ib3c9797a456b4181b82b47263020ba2120faf3d5

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index 9e16e78..f0d47ca 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -84,6 +84,7 @@
   hood->zeroing.index_pulse_count = 2;
   hood->zeroing.index_difference = Values::kHoodEncoderIndexDifference;
   hood->zeroing.known_index_pulse = 0;
+  hood->zeroing.allowable_encoder_error = 0.05;
 
   switch (team) {
     // A set of constants for tests.