| commit | 9f4e8a7f3e3608f5738b22747304d5e98115670c | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Tue Feb 16 15:28:47 2016 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Tue Feb 16 15:28:47 2016 -0800 |
| tree | 2799d27a850330edac8bc00c9443b6ed07436972 | |
| parent | f34582ef08d495e4487cfe553ed6bf87d565472d [diff] [blame] |
Added landing voltage limit and test. Change-Id: I0a74fba887c6f791c05ab6fd69c543678fcdb420
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h index 23491bf..823e130 100644 --- a/y2016/control_loops/superstructure/superstructure.h +++ b/y2016/control_loops/superstructure/superstructure.h
@@ -170,6 +170,11 @@ ESTOP = 16, }; + bool IsRunning() const { + return (state_ == SLOW_RUNNING || state_ == RUNNING || + state_ == LANDING_SLOW_RUNNING || state_ == LANDING_RUNNING); + } + State state() const { return state_; } // Returns the value to move the joint to such that it will stay below