commit 464ee1a9863d3b71ef1cc27e2fb118f054225789
author Austin Schuh <aschuh@localhost> Fri Mar 01 22:37:39 2013 -0800
committer Austin Schuh <austin.linux@gmail.com> Tue Mar 05 21:34:45 2013 -0800
tree 4ca5bd3dbc69587ff5a5f935084775ae98b594ff
parent 30efeb7db8b2029384b250b5c54f2d8f0d19d20f

Merged some code from Brian so that it builds on the bot.

frc971/control_loops/control_loops.gyp

diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index d0fe261..f9f160f 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -37,6 +37,11 @@
         '<(DEPTH)/frc971/frc971.gyp:common',
         '<(EXTERNALS):eigen',
       ],
+      'export_dependent_settings': [
+        '<(EXTERNALS):eigen',
+        '<(AOS)/common/common.gyp:controls',
+        'control_loops',
+      ],
     },
     {
       'target_name': 'wrist_lib_test',

frc971/control_loops/wrist.cc

diff --git a/frc971/control_loops/wrist.cc b/frc971/control_loops/wrist.cc
index edbd8a0..dee0438 100644
--- a/frc971/control_loops/wrist.cc
+++ b/frc971/control_loops/wrist.cc
@@ -125,6 +125,8 @@
         zeroing_position_ = absolute_position;
         // Clear the observer state.
         loop_->X_hat << absolute_position, 0.0;
+        // Set the goal to here to make it so it doesn't move when disabled.
+        loop_->R = loop_->X_hat;
         // Only progress if we are enabled.
         if (::aos::robot_state->enabled) {
           if (position->hall_effect) {

frc971/control_loops/wrist_main.cc

diff --git a/frc971/control_loops/wrist_main.cc b/frc971/control_loops/wrist_main.cc
index cf18412..0c0b66d 100644
--- a/frc971/control_loops/wrist_main.cc
+++ b/frc971/control_loops/wrist_main.cc
@@ -5,7 +5,7 @@
 int main() {
   ::aos::Init();
   frc971::control_loops::WristMotor wrist;
-  looper.Run();
+  wrist.Run();
   ::aos::Cleanup();
   return 0;
 }