Claw control loop now is only profiled.
Change-Id: I862b2abdd61ef70a483ebb7066dde13e946274d8
diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 381bd15..0413b8d 100644
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -5,6 +5,7 @@
#include "aos/common/controls/control_loop.h"
#include "aos/common/time.h"
+#include "aos/common/util/trapezoid_profile.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/control_loops/claw/claw.q.h"
#include "frc971/control_loops/claw/claw_motor_plant.h"
@@ -105,6 +106,8 @@
// Whether claw was closed last cycle.
bool last_rollers_closed_ = false;
+
+ ::aos::util::TrapezoidProfile profile_;
};
} // namespace control_loops