commit 03be124fc89ff86faf6bf79d1f79c1cbfa2efd2b
author James Kuszmaul <jabukuszmaul@gmail.com> Fri Feb 21 14:52:04 2020 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Feb 21 15:41:17 2020 -0800
tree e553c6baace2cde9f2c8d522729a27c82a5ecf56
parent bd588a3def562906e9bbb41823020a039053a0ef

Expose dt in control loop plant parameters

Change-Id: I0da4cbde0117c78bd56ce910069a3e0c0bc1744f

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 919968e..347e1cd 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -183,6 +183,7 @@
             fd.write('#include \"%s/%s\"\n' % (os.path.join(*self._namespaces),
                                                header_file_name))
             fd.write('\n')
+            fd.write('#include <chrono>\n')
             fd.write('#include <vector>\n')
             fd.write('\n')
             fd.write(
@@ -389,8 +390,10 @@
             ans.append(self._DumpMatrix('A', self.A, scalar_type))
             ans.append(self._DumpMatrix('B', self.B, scalar_type))
             ans.append(
+                '  const std::chrono::nanoseconds dt(%d);\n' % (self.dt * 1e9))
+            ans.append(
                 '  return %s'
-                '(A, B, C, D, U_max, U_min);\n' % (plant_coefficient_type))
+                '(A, B, C, D, U_max, U_min, dt);\n' % (plant_coefficient_type))
         elif plant_coefficient_type.startswith('StateFeedbackHybridPlant'):
             ans.append(
                 self._DumpMatrix('A_continuous', self.A_continuous,