{"head":"6e4b4c10e24e15e32fa0d0a2e855f158cd7097d3","size":2,"push_id":44876358,"shas":[["b118c0cf5050b374043d88819d3a5a8e917b3816","f50f0d0b9d6e16148ec76277cc2a77e543c23b09@u.northwestern.edu","First attempt at removing the NaN's and checking the controller is\nproperly \"set up\".  Note that in its current state several of the\nsafety systems are de-activated!","Jarvis Schultz"],["6e4b4c10e24e15e32fa0d0a2e855f158cd7097d3","f50f0d0b9d6e16148ec76277cc2a77e543c23b09@u.northwestern.edu","I now have the logic for determining if/ when the controller is setup.\nAlso note this version has all of the safety stuff back in.\nAdditionally, note that a few comments ago I slightly modified the\ngains in the PID controllers for the motors.  Finally, I just had a\nsuccessful version of this code work.  Although it was extremely\n\"choppy\".  Possible reasons include i) too much computation in\nCheckKinematics ii) too much computation in setup_controller iii)\nImproper disabling of certain interrupts iv) poorly matched\nfrequencies of timers.","Jarvis Schultz"]],"ref":"refs/heads/master"}