control loop timeout code now uses robot_state->outputs_enabled
The outputs_enabled flag falls low as soon as the robot disables the
outputs. They will stay at the last value that was commanded before
it disables for 100 ms, but we can conservatively tell the robot that
they are disabled at that point (since they practically are).
Change-Id: I47f883591dbe2e3696d3958a0ce4281232a5f1e1
diff --git a/aos/common/controls/control_loop_test.cc b/aos/common/controls/control_loop_test.cc
index b71aa3a..4e29062 100644
--- a/aos/common/controls/control_loop_test.cc
+++ b/aos/common/controls/control_loop_test.cc
@@ -1,6 +1,7 @@
#include "aos/common/controls/control_loop_test.h"
#include "aos/common/messages/robot_state.q.h"
+#include "aos/common/logging/queue_logging.h"
namespace aos {
namespace testing {
@@ -54,6 +55,7 @@
new_state->voltage_roborio_in = battery_voltage_;
new_state->voltage_battery = battery_voltage_;
+ LOG_STRUCT(INFO, "robot_state", *new_state);
new_state.Send();
}
}