commit c3b48dfe1483006bf55c881700bba4d07a2a01e6
author Austin Schuh <austin@peloton-tech.com> Sun Feb 22 21:31:37 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Feb 22 21:34:18 2015 -0800
tree 6bdd2828518f5e46baeabf2717e6a3ce65eb98a1
parent c976f49f9a7c848d32982c50ae000c35f58825c8

Added goal output to claw.

Change-Id: I7fca772ae7c772462c5844d2ecb2793ae59bd94f

frc971/control_loops/claw/claw.cc

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 &&