Added goal output to claw.
Change-Id: I7fca772ae7c772462c5844d2ecb2793ae59bd94f
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 5b78a80..0c12d27 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -13,7 +13,7 @@
using ::aos::time::Time;
-constexpr double kZeroingVoltage = 5.0;
+constexpr double kZeroingVoltage = 4.0;
void ClawCappedStateFeedbackLoop::CapU() {
mutable_U(0, 0) = ::std::min(mutable_U(0, 0), max_voltage_);
@@ -257,6 +257,7 @@
} else {
status->intake = 0;
}
+ status->goal_angle = claw_goal_;
if (output) {
status->rollers_open = !output->rollers_closed &&
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 0105441..e05f779 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -49,6 +49,8 @@
// Angle of wrist joint.
double angle;
+ // Goal angle of wrist joint.
+ double goal_angle;
// Voltage of intake rollers. Positive means sucking in, negative means
// spitting out.
double intake;