| commit | be04115f24bdb145471147fc00ea918f2c79c46d | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Feb 28 22:01:52 2016 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Mon Feb 29 01:06:02 2016 -0800 |
| tree | 84e544de720691dbe1792cb79852d2dd6d70068f | |
| parent | a9992ff68f317888535eb74311796ebf710279fe [diff] [blame] |
Added more internal state logging to arm. Change-Id: Ic4c07c74f740af4e5af32d2d140a76ba78f00ee5
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h index 05998c0..2967a72 100644 --- a/y2016/control_loops/superstructure/superstructure.h +++ b/y2016/control_loops/superstructure/superstructure.h
@@ -214,6 +214,10 @@ State state_ = UNINITIALIZED; State last_state_ = UNINITIALIZED; + float last_shoulder_angle_ = 0.0; + float last_wrist_angle_ = 0.0; + float last_intake_angle_ = 0.0; + // Returns true if the profile has finished, and the joint is within the // specified tolerance. bool IsArmNear(double tolerance);