| 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_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h index ce50b4b..3bc41cb 100644 --- a/y2016/control_loops/superstructure/superstructure_controls.h +++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -137,6 +137,11 @@ double max_angular_acceleration_wrist); void set_max_voltage(double shoulder_max_voltage, double wrist_max_voltage); + void set_shoulder_asymetric_limits(double shoulder_min_voltage, + double shoulder_max_voltage) { + loop_->set_asymetric_voltage(0, shoulder_min_voltage, shoulder_max_voltage); + } + // Returns true if we have exceeded any hard limits. bool CheckHardLimits(); // Resets the internal state.