added an LED that turns on when the wrist is zeroed
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index b07d75b..8de4dd8 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -769,6 +769,13 @@
is_ready() && separation_done_with_ball && bottom_done && bottom_velocity_done;
status->zeroed = is_ready();
+ status->zeroed_for_auto =
+ (top_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED ||
+ top_claw_.zeroing_state() ==
+ ZeroedStateFeedbackLoop::DISABLED_CALIBRATION) &&
+ (bottom_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED ||
+ bottom_claw_.zeroing_state() ==
+ ZeroedStateFeedbackLoop::DISABLED_CALIBRATION);
was_enabled_ = ::aos::robot_state->enabled;
}
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 3225d2f..116a182 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -52,8 +52,10 @@
};
message Status {
- // True if zeroed.
+ // True if zeroed enough for the current period (autonomous or teleop).
bool zeroed;
+ // True if zeroed as much as we will force during autonomous.
+ bool zeroed_for_auto;
// True if zeroed and within tolerance for separation and bottom angle.
bool done;
// True if zeroed and within tolerance for separation and bottom angle.