commit 9b38842da34ee3dbc431f709a72e1a188849fd90
author Ben Fredrickson <ben.fred12345@gmail.com> Thu Feb 13 06:15:31 2014 +0000
committer Ben Fredrickson <ben.fred12345@gmail.com> Thu Feb 13 06:15:31 2014 +0000
tree 38744e7a8a7584243c492923acd566b1e2f0fde8
parent 4339ebbfb138f75b0c603bb9c31082125ec8c5fc

Added ability to fine tune calibration maybe after auto. Goes to set position then catches the up edge on the calib hall effect. Does bottom then the top claw.

frc971/control_loops/claw/claw.h

diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
old mode 100644
new mode 100755
index 4ee89c4..c045d6f
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -50,7 +50,7 @@
         posedge_value_(0.0),
         negedge_value_(0.0),
         encoder_(0.0),
-        last_encoder_(0.0) {}
+        last_encoder_(0.0){}
 
   const static int kZeroingMaxVoltage = 5;
 
@@ -186,6 +186,7 @@
   double last_encoder_;
 };
 
+
 class ClawMotor
     : public aos::control_loops::ControlLoop<control_loops::ClawGroup> {
  public:
@@ -219,6 +220,7 @@
   ZeroedStateFeedbackLoop bottom_claw_;
 
   bool was_enabled_;
+  bool doing_calibration_fine_tune_;
 
   DISALLOW_COPY_AND_ASSIGN(ClawMotor);
 };