Upgraded //y2015 to use the common drive code.
This is a fixup from changing the call signature of DoCoerceGoal
Change-Id: I8536f4cd793370cec8d369a00e4fc34b35442fd3
diff --git a/y2015/constants.cc b/y2015/constants.cc
index 24610da..66feb01 100644
--- a/y2015/constants.cc
+++ b/y2015/constants.cc
@@ -147,8 +147,8 @@
kCompRightDriveShifter,
false,
0.5,
- control_loops::MakeVelocityDrivetrainLoop,
- control_loops::MakeDrivetrainLoop,
+ ::y2015::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2015::control_loops::drivetrain::MakeDrivetrainLoop,
5.0, // drivetrain max speed
// Motion ranges: hard_lower_limit, hard_upper_limit,
@@ -214,8 +214,8 @@
kCompRightDriveShifter,
false,
kRobotWidth,
- control_loops::MakeVelocityDrivetrainLoop,
- control_loops::MakeDrivetrainLoop,
+ ::y2015::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2015::control_loops::drivetrain::MakeDrivetrainLoop,
5.0, // drivetrain max speed
// Motion ranges: hard_lower_limit, hard_upper_limit,
@@ -283,9 +283,9 @@
kPracticeRightDriveShifter,
false,
kRobotWidth,
- control_loops::MakeVelocityDrivetrainLoop,
- control_loops::MakeDrivetrainLoop,
- 5.0, // drivetrain max speed
+ ::y2015::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2015::control_loops::drivetrain::MakeDrivetrainLoop,
+ 5.0, // drivetrain max speed
// Motion ranges: hard_lower_limit, hard_upper_limit,
// soft_lower_limit, soft_upper_limit
@@ -303,7 +303,8 @@
kClawPistonSwitchTime,
kClawZeroingRange},
- {// Elevator values, in meters.
+ {
+ // Elevator values, in meters.
// 0 is at the top of the elevator frame.
// Positive is down towards the drivebase.
{-0.00500, 0.689000, 0.010000, 0.680000},
@@ -325,7 +326,7 @@
{kZeroingSampleSize, kArmEncoderIndexDifference, 0.210155, 0.3},
// These are the potentiometer offsets.
0.72069366666666679 - 0.026008 - 0.024948 + 0.025,
- -0.078959636363636357 - 0.024646 - 0.020260,
+ -0.078959636363636357 - 0.024646 - 0.020260,
-3.509611 - 0.007415 - -0.019081 - 0.029393 - -0.013585,
3.506927 - 0.170017 - -0.147970 - 0.005045 - -0.026504,