commit b5191b9c0d357abe39a0f10f2cbf401788e74e5a
author Austin Schuh <austin.linux@gmail.com> Sun Mar 10 18:22:24 2013 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 10 18:22:24 2013 -0700
tree 81e8a4ce45f2b97cf74815c0b4914d1fe21e9b4f
parent 72e2677e1a38ee07cc93fc560021697ab4648efd

Applied Brian's debug prints and new constants.

frc971/control_loops/zeroed_joint.h

diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index 89a3c7b..4c54f27 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -243,6 +243,7 @@
 
   switch (state_) {
     case UNINITIALIZED:
+      LOG(DEBUG, "UNINITIALIZED\n");
       if (position) {
         // Reset the zeroing goal.
         zeroing_position_ = absolute_position;
@@ -261,6 +262,7 @@
       }
       break;
     case MOVING_OFF:
+      LOG(DEBUG, "MOVING_OFF\n");
       {
         // Move off the hall effect sensor.
         if (!::aos::robot_state->enabled) {
@@ -277,6 +279,7 @@
         }
       }
     case ZEROING:
+      LOG(DEBUG, "ZEROING\n");
       {
         int active_sensor_index = ActiveSensorIndex(position);
         if (!::aos::robot_state->enabled) {
@@ -316,6 +319,7 @@
       }
 
     case READY:
+      LOG(DEBUG, "READY\n");
       {
         const double limited_goal = ClipGoal(goal_angle);
         loop_->R << limited_goal, goal_velocity;
@@ -323,6 +327,7 @@
       }
 
     case ESTOP:
+      LOG(DEBUG, "ESTOP\n");
       LOG(WARNING, "have already given up\n");
       return 0.0;
   }