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/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 62d346e..ac2e49e 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -196,7 +196,7 @@
class PulseIndexZeroingEstimator : public ZeroingEstimator {
public:
using Position = IndexPosition;
- using ZeroingConstants = constants::PotAndIndexPulseZeroingConstants;
+ using ZeroingConstants = constants::EncoderPlusIndexZeroingConstants;
using State = IndexEstimatorState;
PulseIndexZeroingEstimator(
@@ -210,6 +210,9 @@
bool zeroed() const override { return zeroed_; }
+ // It's as ready as it'll ever be...
+ bool offset_ready() const { return true; }
+
double offset() const override { return offset_; }
bool error() const override { return error_; }