commit f63b0aea3290b2d0c21005257c21b1f433d0c259
author James Kuszmaul <james@hp-debian> Tue Mar 25 16:52:11 2014 -0700
committer James Kuszmaul <james@hp-debian> Tue Mar 25 16:52:11 2014 -0700
tree f7f7917684455e8ef689125255f7f632e4bd220b
parent fb0e0ae6e502c59a42e6ca68731bed9843f1fef7

Added stuff for properly capping voltage on claw.

Compiles, tests pass, generally good :).

frc971/control_loops/coerce_goal.cc

diff --git a/frc971/control_loops/coerce_goal.cc b/frc971/control_loops/coerce_goal.cc
index 8ef26e7..b32b590 100644
--- a/frc971/control_loops/coerce_goal.cc
+++ b/frc971/control_loops/coerce_goal.cc
@@ -50,7 +50,8 @@
         min_distance = length;
       }
     }
-    return region_vertices.col(closest_i);
+    return (Eigen::Matrix<double, 2, 1>() << region_vertices(0, closest_i),
+            region_vertices(1, closest_i)).finished();
   }
 }