Diff: OuterLoop/OuterLoop.cpp

Revision:

11:3b241ecb75ed

Parent:

10:085ab7328054

Child:

14:85b64a4d08e8

--- a/OuterLoop/OuterLoop.cpp	Mon Oct 23 12:50:53 2017 +0000
+++ b/OuterLoop/OuterLoop.cpp	Fri Oct 27 00:37:32 2017 +0000
@@ -70,8 +70,13 @@
     _pid.writeSetPoint(_SetPoint);
 }
  
+float OuterLoop::getCommand() {
+    return _SetPoint;
+}
+
 float OuterLoop::getOutput() {
-    return _pid.getOutput();
+    /* PID output + offset to drive the motors to the correct position */
+    return _pid.getOutput() + _offset;
 }
  
 void OuterLoop::refreshPVState() {
@@ -127,4 +132,12 @@
 bool OuterLoop::toggleDeadband(bool toggle) {
     _pid.toggleDeadBand(toggle);
     return toggle;
-}         
\ No newline at end of file
+}
+
+void OuterLoop::setOutputOffset(float offset) {
+    _offset = offset;
+}
+ 
+float OuterLoop::getOutputOffset() {
+    return _offset;
+}
\ No newline at end of file