Update comments on allowable_encoder_error
We're setting a value outside the currently documented value for y2016.
Change-Id: Idc6ca14698b13d2b5ff02c3c00c29cffa53331ef
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 2284bde..4ff6391 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -108,8 +108,7 @@
// zeroed.
zeroed_ = true;
// Throw an error if first_start_pos is bigger/smaller than
- // allowable_encoder_error_ * index_diff +
- // start_pos.
+ // allowable_encoder_error_ * index_diff + start_pos.
if (::std::abs(first_start_pos_ - start_pos_) >
allowable_encoder_error_ * index_diff_) {
if (!error_) {
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 5216df0..b5e2c14 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -116,8 +116,8 @@
// Stores the position "start_pos" variable the first time the program
// is zeroed.
double first_start_pos_;
- // Value between 0 and 1 which determines a fraction of the index_diff
- // you want to use.
+ // The fraction of index_diff (possibly greater than 1) after which an error
+ // is reported.
double allowable_encoder_error_;
};