commit 9644e1c14e798e7bf4159ff9847267b939e5a9d7
author Austin Schuh <austin.linux@gmail.com> Tue Mar 12 00:40:36 2013 -0700
committer Austin Schuh <austin.linux@gmail.com> Tue Mar 12 00:40:36 2013 -0700
tree e978d2bd13419e651a4b947cb7e97f5b1600c09f
parent ae5fc8c3b250b5f9866f5df3e27ec25762dbd114

State feedback loop now supports gain scheduling.

frc971/control_loops/index/index.cc

diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index 9ecc1da..4053eae 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -217,10 +217,10 @@
   }
 
   for (int i = 0; i < kNumOutputs; ++i) {
-    if (U[i] > plant.U_max[i]) {
-      U[i] = plant.U_max[i];
-    } else if (U[i] < plant.U_min[i]) {
-      U[i] = plant.U_min[i];
+    if (U(i, 0) > U_max(i, 0)) {
+      U(i, 0) = U_max(i, 0);
+    } else if (U(i, 0) < U_min(i, 0)) {
+      U(i, 0) = U_min(i, 0);
     }
   }
 }