commit 5593403d1025a6d391967cb567280395bf0b278c
author Austin Schuh <austin.linux@gmail.com> Sat Mar 11 12:45:27 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 12 00:29:23 2017 -0800
tree 5831fd19803fc0b61a683642bd3fcfdddcaf8bcc
parent f83da158fe8a83332573de971c9793fdecda9110

Added Zeroing Estimator for the column

Change-Id: I0c9dc557d91ed62f48d8ab6a9a20d2508e362b82

y2017/control_loops/superstructure/superstructure.cc

diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 35de4dc..14beff5 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -44,7 +44,6 @@
                   &(position->turret),
                   output != nullptr ? &(output->voltage_turret) : nullptr,
                   &(status->turret));
-
   intake_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->intake) : nullptr,
                   &(position->intake),
                   output != nullptr ? &(output->voltage_intake) : nullptr,
@@ -54,9 +53,9 @@
                    output != nullptr ? &(output->voltage_shooter) : nullptr,
                    &(status->shooter));
   indexer_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->indexer) : nullptr,
-                &(position->theta_indexer),
-                output != nullptr ? &(output->voltage_indexer) : nullptr,
-                &(status->indexer));
+                   &(position->theta_indexer),
+                   output != nullptr ? &(output->voltage_indexer) : nullptr,
+                   &(status->indexer));
 
   if (output && unsafe_goal) {
     output->voltage_intake_rollers =