commit b8cd689688360e35d9cd81a93d1fbc8e5e4bc080
author Brian Silverman <brians> Sun Mar 17 23:36:24 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:11 2013 -0700
tree c17de13a9fb984860c9afadae9a9129ab4b94b26
parent f0716e851bb8d84925362f068429a25886a6d13a

fixed a StateFeedbackLoop off by 1

frc971/control_loops/state_feedback_loop.h

diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 811c875..ff5e9d8 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -96,7 +96,7 @@
     if (plant_index < 0) {
       plant_index_ = 0;
     } else if (plant_index >= static_cast<int>(coefficients_.size())) {
-      plant_index_ = static_cast<int>(coefficients_.size());
+      plant_index_ = static_cast<int>(coefficients_.size()) - 1;
     } else {
       plant_index_ = plant_index;
     }
@@ -315,7 +315,7 @@
     if (index < 0) {
       controller_index_ = 0;
     } else if (index >= static_cast<int>(controllers_.size())) {
-      controller_index_ = static_cast<int>(controllers_.size());
+      controller_index_ = static_cast<int>(controllers_.size()) - 1;
     } else {
       controller_index_ = index;
     }