commit a769ca2dd3acbe0183414733633ad6076aee8dda
author Stephan Massalt <frc971@massalt.com> Wed Jan 09 05:29:13 2019 +0000
committer Stephan Massalt <frc971@massalt.com> Fri Dec 20 18:04:53 2019 -0800
tree 2a4077345e840d3d78a818a87b9d79f4b5959517
parent 23ac7abc6ea697bb579ceffa682788cd7f9019fa

Adds the sensor unwrap class and tests.

Added the Reset function call to the constructor. Cleaned up some comments.

Change-Id: Ib6bc3cacfe586890b7294f11a1a721a14fd0f989

y2018/control_loops/superstructure/superstructure.cc

diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 70af274..9f5b9fe 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -35,8 +35,10 @@
       drivetrain_output_fetcher_(
           event_loop->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
               "/drivetrain")),
-      intake_left_(constants::GetValues().left_intake.zeroing),
-      intake_right_(constants::GetValues().right_intake.zeroing) {}
+      intake_left_(constants::GetValues().left_intake.zeroing,
+                   constants::GetValues().left_intake.spring_offset),
+      intake_right_(constants::GetValues().right_intake.zeroing,
+                    constants::GetValues().right_intake.spring_offset) {}
 
 void Superstructure::RunIteration(const Goal *unsafe_goal,
                                   const Position *position,