| commit | d93160a182c96b8a0f79abf9574aa25604b1df37 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Mar 05 01:00:54 2017 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Mar 11 21:10:05 2017 -0800 |
| tree | 2cfdadf86b0e56ffd98ff6230cac9b495359c71a | |
| parent | cc3a57e86ed78e7841021cdef137ddf76aa1ee87 [diff] |
Estop on subsystem error. Change-Id: I95e3158caf7766d2fa1668161ad32c3e1ad3ca1e
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h index 4b21bc4..7b77fdd 100644 --- a/frc971/zeroing/zeroing.h +++ b/frc971/zeroing/zeroing.h
@@ -226,6 +226,8 @@ // Returns information about our current state. State GetEstimatorState() const; + void TriggerError() { error_ = true; } + private: // Returns the current real position using the relative encoder offset. double CalculateCurrentPosition(const IndexPosition &info);
diff --git a/y2017/control_loops/superstructure/hood/hood.cc b/y2017/control_loops/superstructure/hood/hood.cc index b5acba0..b0c02de 100644 --- a/y2017/control_loops/superstructure/hood/hood.cc +++ b/y2017/control_loops/superstructure/hood/hood.cc
@@ -149,7 +149,8 @@ } // ESTOP if we hit the hard limits. - if (profiled_subsystem_.CheckHardLimits()) { + if (profiled_subsystem_.CheckHardLimits() || + profiled_subsystem_.error()) { state_ = State::ESTOP; } } break;
diff --git a/y2017/control_loops/superstructure/intake/intake.cc b/y2017/control_loops/superstructure/intake/intake.cc index c66e493..9d56542 100644 --- a/y2017/control_loops/superstructure/intake/intake.cc +++ b/y2017/control_loops/superstructure/intake/intake.cc
@@ -85,7 +85,8 @@ } // ESTOP if we hit the hard limits. - if (profiled_subsystem_.CheckHardLimits()) { + if (profiled_subsystem_.CheckHardLimits() || + profiled_subsystem_.error()) { state_ = State::ESTOP; } } break;
diff --git a/y2017/control_loops/superstructure/turret/turret.cc b/y2017/control_loops/superstructure/turret/turret.cc index 9616dff..3a3a126 100644 --- a/y2017/control_loops/superstructure/turret/turret.cc +++ b/y2017/control_loops/superstructure/turret/turret.cc
@@ -85,7 +85,8 @@ } // ESTOP if we hit the hard limits. - if (profiled_subsystem_.CheckHardLimits()) { + if (profiled_subsystem_.CheckHardLimits() || + profiled_subsystem_.error()) { state_ = State::ESTOP; } } break;