Converted hood to only need an index pulse.
We now have a more complicated seek mechanism which runs the hood to
each hard stop, or until we find both index pulses.
Change-Id: I9932cc158beec0bc55dc0e908accb0aea6a73506
diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index 45ef912..031795a 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -172,11 +172,12 @@
const ::frc971::constants::Range &range() const { return range_; }
- private:
+ protected:
// Limits the provided goal to the soft limits. Prints "name" when it fails
// to aid debugging.
- void CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal);
+ virtual void CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal);
+ private:
void UpdateOffset(double offset);
aos::util::TrapezoidProfile profile_;