Logged the filtered but not zeroed position.
Change-Id: Ica47de1c6b84fd71540428cba06ac266d2e899fe
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 5184ad4..e8cac6f 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -11,6 +11,7 @@
state->error = estimator.error();
state->zeroed = estimator.zeroed();
state->position = estimator.position();
+ state->pot_position = estimator.filtered_position();
}
ZeroingEstimator::ZeroingEstimator(
@@ -122,6 +123,7 @@
}
pos_ = start_pos_ + info.encoder;
+ filtered_position_ = start_average + info.encoder;
}
} // namespace zeroing