commit 09f564a999d4bf2dff930838156513ccffef40d2
author James Kuszmaul <jabukuszmaul@gmail.com> Mon Feb 18 17:37:09 2019 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Thu Feb 21 18:06:08 2019 -0800
tree 41327e7a831ea83be1fca8c3d459dc2b52438117
parent 06c36922b400fb6fe795fc490c4b55940f90422f

Fold y2019 localizer into drivetrain

Change-Id: Icc192ae9f910741b54f114ec9a27559cc289b29b

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 9cf71f7..19e604d 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -231,6 +231,8 @@
     Y << position->left_encoder, position->right_encoder, last_gyro_rate_,
         last_accel_;
     kf_.Correct(Y);
+    // TODO(james): Account for delayed_U as appropriate (should be
+    // last_last_*_voltage).
     localizer_->Update({last_left_voltage_, last_right_voltage_}, monotonic_now,
                        position->left_encoder, position->right_encoder,
                        last_gyro_rate_, last_accel_);