Fixed shooter to not have a spring some times.
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index c58d7e5..0ef0df5 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -324,6 +324,7 @@
//::std::cout << "Measurement error is " << Y_ - C() * X_hat;
//X_hat = A() * X_hat + B() * U;
if (new_y_) {
+ LOG(INFO, "Got Y. R is (%f, %f, %f)\n", R(0, 0), R(1, 0), R(2, 0));
X_hat = (A() - L() * C()) * X_hat + L() * Y_ + B() * U;
new_y_ = false;
} else {
@@ -344,7 +345,7 @@
}
}
- void controller_index() const { return controller_index_; }
+ int controller_index() const { return controller_index_; }
protected:
::std::vector<StateFeedbackController<number_of_states, number_of_inputs,