commit 8b43cafb28a25c2aba38c9447aeaf6555b527b25
author Austin Schuh <austin.linux@gmail.com> Tue Mar 19 10:04:47 2013 +0000
committer Brian Silverman <brians> Sat Mar 30 16:35:11 2013 -0700
tree 816e86e5e556ad625d951f54ecb3ed0f2336a16f
parent 09e0708d47be304db637923ede23ef417c34f6a4

Added wrist and angle adjust done flags.

frc971/control_loops/angle_adjust/angle_adjust.cc

diff --git a/frc971/control_loops/angle_adjust/angle_adjust.cc b/frc971/control_loops/angle_adjust/angle_adjust.cc
index b4117e2..06e3719 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust.cc
@@ -59,7 +59,7 @@
     const ::aos::control_loops::Goal *goal,
     const control_loops::AngleAdjustLoop::Position *position,
     ::aos::control_loops::Output *output,
-    ::aos::control_loops::Status * /*status*/) {
+    ::aos::control_loops::Status *status) {
 
   // Disable the motors now so that all early returns will return with the
   // motors disabled.
@@ -106,6 +106,7 @@
   if (output) {
     output->voltage = voltage;
   }
+  status->done = ::std::abs(zeroed_joint_.absolute_position() - goal->goal) < 0.002;
 }
 
 }  // namespace control_loops

frc971/control_loops/wrist/wrist.cc

diff --git a/frc971/control_loops/wrist/wrist.cc b/frc971/control_loops/wrist/wrist.cc
index 8c4ae1a..392e630 100644
--- a/frc971/control_loops/wrist/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -55,7 +55,7 @@
     const ::aos::control_loops::Goal *goal,
     const control_loops::WristLoop::Position *position,
     ::aos::control_loops::Output *output,
-    ::aos::control_loops::Status * /*status*/) {
+    ::aos::control_loops::Status * status) {
 
   // Disable the motors now so that all early returns will return with the
   // motors disabled.
@@ -96,6 +96,7 @@
   if (output) {
     output->voltage = voltage;
   }
+  status->done = ::std::abs(zeroed_joint_.absolute_position() - goal->goal) < 0.004;
 }
 
 }  // namespace control_loops