Add zeroing state to claw status messages.
Change-Id: I0144cb1455a3de5abca45e071c22f59cd4631e3f
diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.q
index 03929a2..bf2b27a 100644
--- a/frc971/control_loops/control_loops.q
+++ b/frc971/control_loops/control_loops.q
@@ -21,6 +21,16 @@
uint32_t index_pulses;
};
+// The internal state of a zeroing estimator.
+struct EstimatorState {
+ // If true, there has been a fatal error for the estimator.
+ bool error;
+ // If the joint has seen an index pulse and is zeroed.
+ bool zeroed;
+ // The estimated position of the joint.
+ double position;
+};
+
// A left/right pair of PotAndIndexPositions.
struct PotAndIndexPair {
PotAndIndexPosition left;