commit f59b6bc7024942c45ee91748fd316e7c30e7e209
author Austin Schuh <austin.linux@gmail.com> Fri Mar 11 21:26:19 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:13:21 2016 -0800
tree 0f468c438046f2c84c477799035a1c3d956cb9f8
parent be133edd957372bb771ccdc80940fd2bad3337b7

Split the accelerating and decelerating gains for the superstructure.

Change-Id: Iae2c6d994a35443d0bc26fc5b811247ff2c7bf8b

y2016/control_loops/superstructure/superstructure.cc

diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 8147fc2..c64fac1 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -631,6 +631,8 @@
   status->intake.estimator_state = intake_.IntakeEstimatorState();
   status->intake.feedforwards_power = intake_.controller().ff_U(0, 0);
 
+  status->shoulder_controller_index = arm_.controller_index();
+
   last_shoulder_angle_ = arm_.shoulder_angle();
   last_wrist_angle_ = arm_.wrist_angle();
   last_intake_angle_ = intake_.angle();