| commit | ab27423fec19d5eab9dc2b3e458814e16e71169a | [log] [tgz] |
|---|---|---|
| author | Daniel Petti <djpetti@me.com> | Mon Feb 16 19:15:34 2015 -0800 |
| committer | Daniel Petti <djpetti@me.com> | Mon Feb 16 19:31:10 2015 -0800 |
| tree | 3f051be55b7bfdab53324ebf3bae1970fc4532ab | |
| parent | 9cf68c8848b6709ab128e16a2f00346b36a518e7 [diff] |
Add zeroing state to claw status messages. Change-Id: I0144cb1455a3de5abca45e071c22f59cd4631e3f
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc index 057c323..5b78a80 100644 --- a/frc971/control_loops/claw/claw.cc +++ b/frc971/control_loops/claw/claw.cc
@@ -249,6 +249,7 @@ status->zeroed = state_ == RUNNING; status->estopped = state_ == ESTOP; status->state = state_; + zeroing::PopulateEstimatorState(claw_estimator_, &status->zeroing_state); status->angle = claw_loop_->X_hat(0, 0); if (output) {
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q index 00c38c4..0105441 100644 --- a/frc971/control_loops/claw/claw.q +++ b/frc971/control_loops/claw/claw.q
@@ -45,6 +45,7 @@ bool estopped; // The internal state of the claw state machine. uint32_t state; + EstimatorState zeroing_state; // Angle of wrist joint. double angle;