Add zeroing state to claw status messages.
Change-Id: I0144cb1455a3de5abca45e071c22f59cd4631e3f
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index d45c49f..9b2347d 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -6,6 +6,13 @@
namespace frc971 {
namespace zeroing {
+void PopulateEstimatorState(const zeroing::ZeroingEstimator &estimator,
+ EstimatorState *state) {
+ state->error = estimator.error();
+ state->zeroed = estimator.zeroed();
+ state->position = estimator.position();
+}
+
ZeroingEstimator::ZeroingEstimator(
const constants::Values::ZeroingConstants& constants) {
index_diff_ = constants.index_difference;