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

y2014/autonomous/auto.cc

diff --git a/y2014/autonomous/auto.cc b/y2014/autonomous/auto.cc
index 9c39f27..5860407 100644
--- a/y2014/autonomous/auto.cc
+++ b/y2014/autonomous/auto.cc
@@ -163,10 +163,10 @@
     ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
     double left_error = ::std::abs(
         left_initial_position -
-        ::frc971::control_loops::drivetrain_queue.status->filtered_left_position);
+        ::frc971::control_loops::drivetrain_queue.status->estimated_left_position);
     double right_error = ::std::abs(
         right_initial_position -
-        ::frc971::control_loops::drivetrain_queue.status->filtered_right_position);
+        ::frc971::control_loops::drivetrain_queue.status->estimated_right_position);
     const double kPositionThreshold = 0.05 + distance;
     if (right_error < kPositionThreshold && left_error < kPositionThreshold) {
       LOG(INFO, "At the goal\n");
@@ -214,9 +214,9 @@
 void InitializeEncoders() {
   ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
   left_initial_position =
-      ::frc971::control_loops::drivetrain_queue.status->filtered_left_position;
+      ::frc971::control_loops::drivetrain_queue.status->estimated_left_position;
   right_initial_position =
-      ::frc971::control_loops::drivetrain_queue.status->filtered_right_position;
+      ::frc971::control_loops::drivetrain_queue.status->estimated_right_position;
 }
 
 void WaitUntilClawDone() {