commit 093535c2c3b82fefdc45e143e981a99442d35b19
author Austin Schuh <austin.linux@gmail.com> Sat Mar 05 23:21:00 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:13:21 2016 -0800
tree 5f04496c73452dbbb8d520f863ed04d50c511d42
parent 5b1a4cd5817927e9f7c17e0f39c406427755669f

Added position control and profiling to drivetrain.

Change-Id: I09ad01c46b23f1c7b6e8530bc10b03a733245b95

y2012/control_loops/drivetrain/drivetrain.cc

diff --git a/y2012/control_loops/drivetrain/drivetrain.cc b/y2012/control_loops/drivetrain/drivetrain.cc
index e97e440..0a2eef0 100644
--- a/y2012/control_loops/drivetrain/drivetrain.cc
+++ b/y2012/control_loops/drivetrain/drivetrain.cc
@@ -100,11 +100,11 @@
   // set the output status of the control loop state
   if (status) {
     status->robot_speed = dt_closedloop_.GetEstimatedRobotSpeed();
-    status->filtered_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
-    status->filtered_right_position = dt_closedloop_.GetEstimatedRightEncoder();
+    status->estimated_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
+    status->estimated_right_position = dt_closedloop_.GetEstimatedRightEncoder();
 
-    status->filtered_left_velocity = dt_closedloop_.loop().X_hat(1, 0);
-    status->filtered_right_velocity = dt_closedloop_.loop().X_hat(3, 0);
+    status->estimated_left_velocity = dt_closedloop_.loop().X_hat(1, 0);
+    status->estimated_right_velocity = dt_closedloop_.loop().X_hat(3, 0);
     status->output_was_capped = dt_closedloop_.OutputWasCapped();
     status->uncapped_left_voltage = dt_closedloop_.loop().U_uncapped(0, 0);
     status->uncapped_right_voltage = dt_closedloop_.loop().U_uncapped(1, 0);