commit 3853f55bfc6ae59474be85385b83a4a0b7336955
author Brian Silverman <brians> Sun May 15 14:11:58 2016 -0700
committer Brian Silverman <brians> Sun May 15 14:11:58 2016 -0700
tree 739c8c76aaaf3c652b2c2fc02b6461a77ca3823e
parent e8b1dfe5ca043d4367c1d28a6d5bd48d5c98c61b

Finishing touches to common drivetrain loop

Change-Id: I169376f863eb1d5f2f2828f08dbd5125e36e7048

y2014/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 4894a51..96b27a6 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -13,6 +13,7 @@
 namespace control_loops {
 
 const DrivetrainConfig &GetDrivetrainConfig() {
+  // TODO(austin): Switch over to using the profile.
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -31,8 +32,7 @@
       constants::GetValues().left_drive,
       constants::GetValues().right_drive,
       true,
-      // TODO(austin): Switch over to using the profle.
-      false};
+      0};
 
   return kDrivetrainConfig;
 };

y2014/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 52dafcc..883bdd2 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -7,8 +7,7 @@
 
 int main() {
   ::aos::Init();
-  DrivetrainLoop drivetrain =
-      DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+  DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig());
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;

y2015_bot3/actors/drivetrain_actor.cc

diff --git a/y2015_bot3/actors/drivetrain_actor.cc b/y2015_bot3/actors/drivetrain_actor.cc
index 32ce93f..5a83626 100644
--- a/y2015_bot3/actors/drivetrain_actor.cc
+++ b/y2015_bot3/actors/drivetrain_actor.cc
@@ -26,7 +26,8 @@
     : aos::common::actions::ActorBase<actors::DrivetrainActionQueueGroup>(s) {}
 
 bool DrivetrainActor::RunAction(const actors::DrivetrainActionParams &params) {
-  static const auto K = ::y2015_bot3::control_loops::MakeDrivetrainLoop().K();
+  static const auto K =
+      ::y2015_bot3::control_loops::drivetrain::MakeDrivetrainLoop().K();
 
   const double yoffset = params.y_offset;
   const double turn_offset =