commit 05c5a61bfdeab71df8064a6c45b388ae21c11c64
author Austin Schuh <austin.linux@gmail.com> Sat Apr 02 15:10:25 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Apr 02 16:52:33 2016 -0700
tree 916cf38a1ce1e1077ac22208410e0fed36261659
parent 69120d71119b8075db7c888b269cafa79f0cafeb

Tuned and connected down estimator.

Change-Id: I2182af89a664a376103b49c54b96e0a2368ffb3c

frc971/control_loops/drivetrain/drivetrain.h

diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index a9541b7..69e9794 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -48,6 +48,9 @@
   PolyDrivetrain dt_openloop_;
   DrivetrainMotorsSS dt_closedloop_;
 
+  StateFeedbackLoop<2, 1, 1> down_estimator_;
+  Eigen::Matrix<double, 1, 1> down_U_;
+
   // Current gears for each drive side.
   Gear left_gear_;
   Gear right_gear_;