Added a zeroed flag.
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index f7b1ffe..64db8b4 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -758,6 +758,8 @@
status->done_with_ball =
is_ready() && separation_done_with_ball && bottom_done && bottom_velocity_done;
+ status->zeroed = is_ready();
+
was_enabled_ = ::aos::robot_state->enabled;
}
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 7f200a4..38e7efb 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -52,10 +52,12 @@
};
message Status {
+ // True if zeroed.
+ bool zeroed;
// True if zeroed and within tolerance for separation and bottom angle.
bool done;
// True if zeroed and within tolerance for separation and bottom angle.
- // seperation allowance much wider as a ball may be included
+ // seperation allowance much wider as a ball may be included
bool done_with_ball;
// Dump the values of the state matrix.
double bottom;