Add claw control loop.
It's based pretty heavily on the fridge loop. Currently, all the
tests pass.
Change-Id: Ieb386dfa5c3fe2d34e2d191fa39a44dc77ee6ab6
diff --git a/frc971/constants.h b/frc971/constants.h
index 5012817..85c06bb 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -79,6 +79,12 @@
// to radians so that the resulting value is 0 when the claw is at absolute
// 0 (horizontal straight out the front).
double potentiometer_offset;
+
+ // Time between sending commands to claw opening pistons and them reaching
+ // the new state.
+ double piston_switch_time;
+ // How far on either side we look for the index pulse before we give up.
+ double zeroing_range;
};
Claw claw;