commit ed9df2fd9d8768313fb0ce4dd4f5732295c748bc
author Brian Silverman <brians> Sat Apr 05 07:07:15 2014 -0700
committer Brian Silverman <brians> Sat Apr 05 07:07:15 2014 -0700
tree 68be61e16b84ac68cc7aeaad5bca3596619722b4
parent fba7163b6bf0acf745dd12d1ecbb167fd8b59b71

fixed claw power capping before it knows where they are

frc971/control_loops/claw/claw.h

diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 6dbc408..8c81e62 100644
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -29,6 +29,10 @@
   virtual void CapU();
 
   void set_is_zeroing(bool is_zeroing) { is_zeroing_ = is_zeroing; }
+  void set_positions_known(bool top_known, bool bottom_known) {
+    top_known_ = top_known;
+    bottom_known_ = bottom_known;
+  }
 
   void ChangeTopOffset(double doffset);
   void ChangeBottomOffset(double doffset);
@@ -39,6 +43,8 @@
   double uncapped_average_voltage_;
   bool is_zeroing_;
 
+  bool top_known_ = false, bottom_known_ = false;
+
   const ::aos::controls::HPolytope<2> U_Poly_, U_Poly_zeroing_;
 };