Make arm zeroing safer.
Now it forces the elevator to go to a predefined "safe" height
before it zeroes the arm to avoid crashing the fridge.
Change-Id: I8b5197a6a1e3d75372756015026c5ea8d1ddddef
diff --git a/frc971/control_loops/fridge/fridge.h b/frc971/control_loops/fridge/fridge.h
index 54dc032..fc10594 100644
--- a/frc971/control_loops/fridge/fridge.h
+++ b/frc971/control_loops/fridge/fridge.h
@@ -18,6 +18,7 @@
class FridgeTest_ElevatorGoalPositiveWindupTest_Test;
class FridgeTest_ArmGoalNegativeWindupTest_Test;
class FridgeTest_ElevatorGoalNegativeWindupTest_Test;
+class FridgeTest_SafeArmZeroing_Test;
}
class CappedStateFeedbackLoop : public StateFeedbackLoop<4, 2, 2> {
@@ -74,6 +75,7 @@
friend class testing::FridgeTest_ArmGoalPositiveWindupTest_Test;
friend class testing::FridgeTest_ElevatorGoalNegativeWindupTest_Test;
friend class testing::FridgeTest_ArmGoalNegativeWindupTest_Test;
+ friend class testing::FridgeTest_SafeArmZeroing_Test;
// Sets state_ to the correct state given the current state of the zeroing
// estimators.