Added make_hybrid_drivetrain_velocity_loop to drivetrain_config
Change-Id: I66dde6ddf0fc63c794d6b11ff2a2131005902953
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 476128d..c4652be 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -3,8 +3,11 @@
#include <functional>
-#include "frc971/shifter_hall_effect.h"
+#if defined(__linux__)
+#include "frc971/control_loops/hybrid_state_feedback_loop.h"
+#endif
#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/shifter_hall_effect.h"
namespace frc971 {
namespace control_loops {
@@ -53,6 +56,12 @@
::std::function<StateFeedbackLoop<4, 2, 2, Scalar>()> make_drivetrain_loop;
::std::function<StateFeedbackLoop<2, 2, 2, Scalar>()> make_v_drivetrain_loop;
::std::function<StateFeedbackLoop<7, 2, 4, Scalar>()> make_kf_drivetrain_loop;
+#if defined(__linux__)
+ ::std::function<
+ StateFeedbackLoop<2, 2, 2, Scalar, StateFeedbackHybridPlant<2, 2, 2>,
+ HybridKalman<2, 2, 2>>()>
+ make_hybrid_drivetrain_velocity_loop;
+#endif
::std::chrono::nanoseconds dt; // Control loop time step.
Scalar robot_radius; // Robot radius, in meters.