commit 893ba072d626d2ecc72ecc062ee2e3ec6141b291
author Brian Silverman <brians> Sat Mar 16 14:03:50 2013 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 16 17:27:13 2013 -0700
tree bfa2f6edad5ac817b414325a871cf5efe1a66526
parent c1f68898c7d82184e71c139ed59769dcbbec270a

added getting to ZeroedJoint for the current position

frc971/control_loops/zeroed_joint.h

diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index 01e95e3..582d48b 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -174,6 +174,8 @@
   // Timestamp
   static const double dt;
 
+  double absolute_position() const { return loop_->X_hat(0, 0); }
+
  private:
   friend class ZeroedStateFeedbackLoop<kNumZeroSensors>;
   // Friend the wrist test cases so that they can simulate windeup.