commit e20e93ce46c517e1a53e261692a28b4fd4e0a73b
author Austin Schuh <austin.linux@gmail.com> Sat Mar 09 19:54:16 2013 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 09 22:09:50 2013 -0800
tree b319174222ec73f54556ee937d3540c73e92c3fb
parent 844960dc097d84099e8a048b5a2d8319a4be6a2c

Modified the angle adjust code to use the new zeroed_joint.

frc971/control_loops/wrist/wrist.cc

diff --git a/frc971/control_loops/wrist/wrist.cc b/frc971/control_loops/wrist/wrist.cc
index 85cc221..13471fa 100644
--- a/frc971/control_loops/wrist/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -75,7 +75,6 @@
     transformed_position.position = position->pos;
     transformed_position.hall_effects[0] = position->hall_effect;
     transformed_position.hall_effect_positions[0] = position->calibration;
-    printf("Position is %f\n", position->pos);
   }
 
   const double voltage = zeroed_joint_.Update(transformed_position_ptr,
@@ -90,7 +89,6 @@
 
   if (output) {
     output->voltage = voltage;
-    printf("Voltage applied is %f\n", voltage);
   }
 }
 

frc971/control_loops/wrist/wrist.h

diff --git a/frc971/control_loops/wrist/wrist.h b/frc971/control_loops/wrist/wrist.h
index 1dd9afd..a53f603 100644
--- a/frc971/control_loops/wrist/wrist.h
+++ b/frc971/control_loops/wrist/wrist.h
@@ -29,6 +29,9 @@
   // True if the wrist is zeroing.
   bool is_zeroing() const { return zeroed_joint_.is_zeroing(); }
 
+  // True if the wrist is zeroing.
+  bool is_moving_off() const { return zeroed_joint_.is_moving_off(); }
+
   // True if the state machine is uninitialized.
   bool is_uninitialized() const { return zeroed_joint_.is_uninitialized(); }