Remove updating the old, split-out Y member variable.
It was a hack because we hadn't figured out the math which isn't around
any more.
Change-Id: I4c99dd1ec78c6d4d7d3402ecfd4e44380d502b31
diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index b2ac562..4f9fe2b 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -503,12 +503,10 @@
}
void ClawLimitedLoop::ChangeTopOffset(double doffset) {
- mutable_Y()(1, 0) += doffset;
mutable_X_hat()(1, 0) += doffset;
LOG(INFO, "Changing top offset by %f\n", doffset);
}
void ClawLimitedLoop::ChangeBottomOffset(double doffset) {
- mutable_Y()(0, 0) += doffset;
mutable_X_hat()(0, 0) += doffset;
mutable_X_hat()(1, 0) -= doffset;
LOG(INFO, "Changing bottom offset by %f\n", doffset);
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index f137235..2a9f6e8 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -91,10 +91,6 @@
offset_ = known_position - encoder_val;
double doffset = offset_ - previous_offset;
mutable_X_hat(0, 0) += doffset;
- // Offset our measurements because the offset is baked into them.
- // This is safe because if we got here, it means position != nullptr, which
- // means we already set Y to something and it won't just get overwritten.
- mutable_Y(0, 0) += doffset;
// Offset the goal so we don't move.
mutable_R(0, 0) += doffset;
if (controller_index() == 0) {