commit d34569de773a6864859043c9e160bd6d937e5d7f
author Austin Schuh <austin@peloton-tech.com> Tue Feb 18 20:26:38 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Tue Feb 18 20:26:38 2014 -0800
tree b5a5efcf9f4e5cd8c383a18be187c77e805b8441
parent be1401fc12f52b86140d5e1224ace520e2ced0aa

Fixed shooter to not have a spring some times.

frc971/control_loops/shooter/shooter.h

diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index efb4480..322a556 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -14,8 +14,8 @@
 namespace frc971 {
 namespace control_loops {
 namespace testing {
-class ShooterTest_NoWindupPositive_Test;
-class ShooterTest_NoWindupNegative_Test;
+class ShooterTest_UnloadWindupPositive_Test;
+class ShooterTest_UnloadWindupNegative_Test;
 };
 
 using ::aos::time::Time;
@@ -36,7 +36,9 @@
         voltage_(0.0),
         last_voltage_(0.0),
         uncapped_voltage_(0.0),
-        offset_(0.0) {}
+        offset_(0.0),
+        max_voltage_(12.0),
+        capped_goal_(false) {}
 
   const static int kZeroingMaxVoltage = 5;
 
@@ -68,6 +70,9 @@
     Correct(Y);
   }
 
+  // Recomputes the power goal for the current controller and position/velocity.
+  void RecalculatePowerGoal();
+
   double goal_position() const { return R(0, 0) + kPositionOffset; }
   double goal_velocity() const { return R(1, 0); }
   void InitializeState(double position) {
@@ -84,6 +89,11 @@
 
   double position() const { return X_hat(0, 0) - offset_ + kPositionOffset; }
 
+  void set_max_voltage(const double max_voltage) { max_voltage_ = max_voltage; }
+  bool capped_goal() const { return capped_goal_; }
+
+  void CapGoal();
+
  private:
   // The offset between what is '0' (0 rate on the spring) and the 0 (all the
   // way cocked).
@@ -93,6 +103,8 @@
   double last_voltage_;
   double uncapped_voltage_;
   double offset_;
+  double max_voltage_;
+  bool capped_goal_;
 };
 
 class ShooterMotor
@@ -102,7 +114,7 @@
                             &control_loops::shooter_queue_group);
 
   // True if the goal was moved to avoid goal windup.
-  //bool capped_goal() const { return shooter_.capped_goal(); }
+  bool capped_goal() const { return shooter_.capped_goal(); }
 
   double PowerToPosition(double power);
 
@@ -132,8 +144,8 @@
 
  private:
   // Friend the test classes for acces to the internal state.
-  friend class testing::ShooterTest_NoWindupPositive_Test;
-  friend class testing::ShooterTest_NoWindupNegative_Test;
+  friend class testing::ShooterTest_UnloadWindupPositive_Test;
+  friend class testing::ShooterTest_UnloadWindupNegative_Test;
 
   // Enter state STATE_UNLOAD
   void Unload() {