got SetGoalPosition and apply_some_voltage implemented.
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index c19328f..6780712 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -103,16 +103,7 @@
// austin said something about which matrix to set, but I didn't under
// very much of it
//some_matrix = {desired_position, desired_velocity};
- printf("%s:%d : seg fault (%.2f, %.2f)\n", __FILE__, __LINE__,
- desired_position, desired_velocity);
- *(const char **)(NULL) = "seg fault";
- }
-
- // apply a small amout of voltage outside the loop so we can
- // take up backlash in gears
- void ApplySomeVoltage() {
- printf("%s:%d : seg fault\n", __FILE__, __LINE__);
- *(const char **)(NULL) = "seg fault";
+ R << desired_position, desired_velocity, 0;
}
double position() const { return X_hat(0, 0); }