pbio/servo: Log time as state.
We had an unused spot in our logs, and the wall time is a useful time to keep track of, since it may be different from the control time (which can pause).
@@ -211,7 +211,7 @@ pbio_error_t pbio_servo_update(pbio_servo_t *srv) {
}
// Log servo state
- int32_t log_data[] = {0, count_now, rate_now, actuation, voltage, count_est, rate_est, feedback_torque, feedforward_torque};
+ int32_t log_data[] = {time_now, count_now, rate_now, actuation, voltage, count_est, rate_est, feedback_torque, feedforward_torque};
pbio_logger_update(&srv->log, log_data);
// Update the state observer
