Fridge now waits for all samples before continuing.
Change-Id: I6365f5871aaa1508f1198f5f8bb60b13a91fc8fd
diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index 61152e4..ee295a2 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -69,10 +69,10 @@
constants::GetValues().fridge.right_elev_zeroing) {}
void Fridge::UpdateZeroingState() {
- if (left_elevator_estimator_.offset_ratio_ready() < 0.5 ||
- right_elevator_estimator_.offset_ratio_ready() < 0.5 ||
- left_arm_estimator_.offset_ratio_ready() < 0.5 ||
- right_arm_estimator_.offset_ratio_ready() < 0.5) {
+ if (left_elevator_estimator_.offset_ratio_ready() < 1.0 ||
+ right_elevator_estimator_.offset_ratio_ready() < 1.0 ||
+ left_arm_estimator_.offset_ratio_ready() < 1.0 ||
+ right_arm_estimator_.offset_ratio_ready() < 1.0) {
state_ = INITIALIZING;
} else if (!left_elevator_estimator_.zeroed() ||
!right_elevator_estimator_.zeroed()) {