commit d5ccb8667ac54a10189b455ad0d3786c5cb87779
author Austin Schuh <austin.linux@gmail.com> Sat Mar 11 22:06:36 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:24:04 2017 -0700
tree d7a2158552a49028f4ed0d71796293febdfeca0e
parent 192aa77ea0b7762c9bbf19f56fb1f88c5df066a4

Added column and tests

The column works!  We can also shut the intake down for hanging.

Change-Id: I4369d489d1a07a688f204fd9bb00ef7ad787f5a3

y2016/control_loops/superstructure/superstructure_controls.cc

diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
index ce334bf..13a949a 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.cc
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -214,6 +214,11 @@
 }
 
 void Arm::Update(bool disable) {
+  // TODO(austin): Reset the state vectors and internal state here.
+  if (should_reset_) {
+    should_reset_ = false;
+  }
+
   if (!disable) {
     // Compute next goal.
     loop_->mutable_next_R().block<2, 1>(0, 0) = shoulder_profile_.Update(