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

y2015/actors/drivetrain_actor.cc

diff --git a/y2015/actors/drivetrain_actor.cc b/y2015/actors/drivetrain_actor.cc
index 9ef81c5..5ace60d 100644
--- a/y2015/actors/drivetrain_actor.cc
+++ b/y2015/actors/drivetrain_actor.cc
@@ -56,7 +56,7 @@
         // They're more than 24V apart, so stop moving forwards and let it deal
         // with spinning first.
         profile.SetGoal(
-            (status.filtered_left_position + status.filtered_right_position -
+            (status.estimated_left_position + status.estimated_right_position -
              params.left_initial_position - params.right_initial_position) /
             2.0);
       } else {
@@ -138,10 +138,10 @@
     const double kPositionThreshold = 0.05;
 
     const double left_error = ::std::abs(
-        control_loops::drivetrain_queue.status->filtered_left_position -
+        control_loops::drivetrain_queue.status->estimated_left_position -
         (left_goal_state(0, 0) + params.left_initial_position));
     const double right_error = ::std::abs(
-        control_loops::drivetrain_queue.status->filtered_right_position -
+        control_loops::drivetrain_queue.status->estimated_right_position -
         (right_goal_state(0, 0) + params.right_initial_position));
     const double velocity_error =
         ::std::abs(control_loops::drivetrain_queue.status->robot_speed);