redid driving in auto
diff --git a/aos/common/util/trapezoid_profile.h b/aos/common/util/trapezoid_profile.h
index 1051eec..92e3dbe 100644
--- a/aos/common/util/trapezoid_profile.h
+++ b/aos/common/util/trapezoid_profile.h
@@ -24,6 +24,15 @@
const Eigen::Matrix<double, 2, 1> &Update(double goal_position,
double goal_velocity);
+ // Useful for preventing windup etc.
+ void MoveGoal(double dx) {
+ output_(0, 0) += dx;
+ }
+
+ void SetGoal(double x) {
+ output_(0, 0) = x;
+ }
+
void set_maximum_acceleration(double maximum_acceleration) {
maximum_acceleration_ = maximum_acceleration;
}