commit 7992d6ec4abf8cc6e338384fe6b2bccd5296f708
author Brian Silverman <brians> Sun Mar 24 19:20:54 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:13 2013 -0700
tree 10412fca36ca18dee8821db3daa03869703f0a31
parent 7f09f978f6a02e7c6034e7507283069523369157

more changes from Davis

frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc

diff --git a/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc b/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
index 620d784..51cd641 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
@@ -224,23 +224,23 @@
   VerifyNearGoal();
 }
 
-// Tests that loosing the encoder for a second triggers a re-zero.
+// Tests that losing the encoder for 11 seconds triggers a re-zero.
 TEST_F(AngleAdjustTest, RezeroWithMissingPos) {
   my_angle_adjust_loop_.goal.MakeWithBuilder().goal(0.4).Send();
-  for (int i = 0; i < 800; ++i) {
+  for (int i = 0; i < 1800; ++i) {
     // After 3 seconds, simulate the encoder going missing.
     // This should trigger a re-zero.  To make sure it works, change the goal as
     // well.
-    if (i < 300 || i > 400) {
+    if (i < 300 || i > 1400) {
       angle_adjust_motor_plant_.SendPositionMessage();
     } else {
-      if (i > 310) {
+      if (i > 1310) {
         // Should be re-zeroing now.
         EXPECT_TRUE(angle_adjust_motor_.is_uninitialized());
       }
       my_angle_adjust_loop_.goal.MakeWithBuilder().goal(0.5).Send();
     }
-    if (i == 430) {
+    if (i == 1430) {
       EXPECT_TRUE(angle_adjust_motor_.is_zeroing() ||
                   angle_adjust_motor_.is_moving_off());
     }

frc971/control_loops/zeroed_joint.h

diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index a756d35..468dc13 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -276,19 +276,21 @@
   if (position == NULL) {
     LOG(WARNING, "no new pos given\n");
     error_count_++;
-  } else {
-    error_count_ = 0;
   }
   if (error_count_ >= 4) {
     output_enabled = false;
     LOG(WARNING, "err_count is %d so disabling\n", error_count_);
-  } else if ((::aos::time::Time::Now() - last_good_time_) > kRezeroTime) {
-    LOG(WARNING, "err_count is %d so forcing a re-zero (or 1st time)\n",
-        error_count_);
-    state_ = UNINITIALIZED;
+
+    if ((::aos::time::Time::Now() - last_good_time_) > kRezeroTime) {
+      LOG(WARNING, "err_count is %d (or 1st time) so forcing a re-zero\n",
+          error_count_);
+      state_ = UNINITIALIZED;
+      loop_->Reset();
+    }
   }
-  if (position) {
+  if (position != NULL) {
     last_good_time_ = ::aos::time::Time::Now();
+    error_count_ = 0;
   }
 
   // Compute the absolute position of the wrist.