fixed queue number thing
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 6780712..4705f86 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -141,6 +141,16 @@
// True if the goal was moved to avoid goal windup.
//bool capped_goal() const { return shooter_.capped_goal(); }
+ double PowerToPosition(double power) {
+ LOG(WARNING, "power to position not correctly implemented");
+ const frc971::constants::Values &values = constants::GetValues();
+ double new_pos =
+ (power > values.shooter.upper_limit) ? values.shooter.upper_limit
+ : (power < 0.0) ? 0.0 : power;
+
+ return new_pos;
+ }
+
typedef enum {
STATE_INITIALIZE,
STATE_REQUEST_LOAD,
@@ -159,8 +169,6 @@
protected:
- double PowerToPosition(double power) { return power; }
-
virtual void RunIteration(
const ShooterGroup::Goal *goal,
const control_loops::ShooterGroup::Position *position,