Added stuff for properly capping voltage on claw.
Compiles, tests pass, generally good :).
diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
old mode 100755
new mode 100644
index dc8e6ba..48650b4
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -4,8 +4,10 @@
#include <memory>
#include "aos/common/control_loop/ControlLoop.h"
+#include "aos/controls/polytope.h"
#include "frc971/constants.h"
#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
#include "frc971/control_loops/claw/claw.q.h"
#include "frc971/control_loops/claw/claw_motor_plant.h"
#include "frc971/control_loops/hall_effect_tracker.h"
@@ -36,6 +38,8 @@
private:
double uncapped_average_voltage_;
bool is_zeroing_;
+
+ const ::aos::controls::HPolytope<2> U_Poly_;
};
class ClawMotor;