| commit | bcec3c31c65f6b03b09d3fc258b1bdc06c993624 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Fri Apr 14 20:11:03 2023 -0700 |
| committer | Gerrit Code Review <gerrit@software.frc971.org> | Fri Apr 14 20:11:03 2023 -0700 |
| tree | 6e6b7e94c0abc79bc3fb3dd145f7d34a4575b4b3 | |
| parent | 324741b053a3020eb8162f3842b8d407db3b1bfc [diff] | |
| parent | 5180bbe48fc101bcdeae570ec277890f1d6786fa [diff] |
Merge "Reject to send NANs from the drivetrain code"
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc index ea20bd0..9823f0c 100644 --- a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc +++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
@@ -284,6 +284,9 @@ } else if (minU < -12.0) { U_ = U_ - U_.Ones() * (minU + 12.0); } + if (!U_.allFinite()) { + U_.setZero(); + } } flatbuffers::Offset<LineFollowLogging> LineFollowDrivetrain::PopulateStatus(