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/y2016_bot3/joystick_reader.cc b/y2016_bot3/joystick_reader.cc
index a987e3d..198b002 100644
--- a/y2016_bot3/joystick_reader.cc
+++ b/y2016_bot3/joystick_reader.cc
@@ -252,7 +252,7 @@
const ::frc971::control_loops::drivetrain::DrivetrainConfig dt_config_;
::aos::util::SimpleLogInterval no_drivetrain_status_ =
- ::aos::util::SimpleLogInterval(::aos::time::Time::InSeconds(0.2), WARNING,
+ ::aos::util::SimpleLogInterval(::std::chrono::milliseconds(200), WARNING,
"no drivetrain status");
};