Fixed the reset for min max edge value. Not compiled as the build is broken.
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 410d6c6..19e9a18 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -272,6 +272,12 @@
if (reset()) {
bottom_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
top_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
+ // close up the min and max edge positions as they are no longer valid and
+ // will be expanded in future iterations
+ top_claw_.min_current_hall_effect_edge_ =
+ top_claw_.max_current_hall_effect_edge_ = position->top.position;
+ bottom_claw_.min_current_hall_effect_edge_ =
+ bottom_claw_.max_current_hall_effect_edge_ = position->bottom.position;
}
if (::aos::robot_state.get() == nullptr) {
diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 949b0f5..50076a7 100755
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -84,8 +84,10 @@
back_.Update(claw.back);
if (any_hall_effect_changed()) {
- min_current_hall_edge_ = claw.position;
- max_current_hall_edge_ = claw.position;
+ // if the hall effect has changed we are new edge
+ // so we zero out the interval this new edge has covered
+ min_current_hall_effect_edge_ = claw.position;
+ max_current_hall_effect_edge_ = claw.position;
} else if (claw.position > max_current_hall_effect_edge_) {
max_current_hall_effect_edge_ = claw.position;
} else if (claw.position < min_current_hall_effect_edge_) {
@@ -137,6 +139,9 @@
JointZeroingState zeroing_state_;
double posedge_value_;
double negedge_value_;
+ double last_edge_value_;
+ double min_current_hall_effect_edge_;
+ double max_current_hall_effect_edge_;
double encoder_;
double last_encoder_;