Added asymetric voltage limiting.
Change-Id: I1d3311cf95bd6ed77423ffda4c3f4d969bc3996b
diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
index 0c4ac70..b2d8aa7 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.cc
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -138,7 +138,7 @@
}
void Intake::set_max_voltage(double voltage) {
- loop_->set_max_voltages(voltage);
+ loop_->set_max_voltage(0, voltage);
}
void Intake::AdjustProfile(double max_angular_velocity,
@@ -370,7 +370,8 @@
void Arm::set_max_voltage(double shoulder_max_voltage,
double wrist_max_voltage) {
- loop_->set_max_voltages(shoulder_max_voltage, wrist_max_voltage);
+ loop_->set_max_voltage(0, shoulder_max_voltage);
+ loop_->set_max_voltage(1, wrist_max_voltage);
}
void Arm::Reset() {