s/change_/mutable_/g
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 2bf5621..701ea1b 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -118,7 +118,7 @@
}
LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
- change_U() =
+ mutable_U() =
velocity_K * velocity_error + position_K * T * adjusted_pos_error;
LOG_MATRIX(DEBUG, "U is now", U());
} else {
@@ -148,7 +148,7 @@
double right_velocity) {
left_goal_ = left;
right_goal_ = right;
- loop_->change_R() << left, left_velocity, right, right_velocity;
+ loop_->mutable_R() << left, left_velocity, right, right_velocity;
}
void SetRawPosition(double left, double right) {
raw_right_ = right;
@@ -167,7 +167,7 @@
}
void SetExternalMotors(double left_voltage, double right_voltage) {
- loop_->change_U() << left_voltage, right_voltage;
+ loop_->mutable_U() << left_voltage, right_voltage;
}
void Update(bool stop_motors, bool enable_control_loop) {
@@ -175,8 +175,8 @@
loop_->Update(stop_motors);
} else {
if (stop_motors) {
- loop_->change_U().setZero();
- loop_->change_U_uncapped().setZero();
+ loop_->mutable_U().setZero();
+ loop_->mutable_U_uncapped().setZero();
}
loop_->UpdateObserver();
}
@@ -564,7 +564,7 @@
// Integrate velocity to get the position.
// This position is used to get integral control.
- loop_->change_R() << left_velocity, right_velocity;
+ loop_->mutable_R() << left_velocity, right_velocity;
if (!quickturn_) {
// K * R = w
@@ -578,7 +578,7 @@
U_Poly_.k() + U_Poly_.H() * loop_->K() * loop_->X_hat());
// Limit R back inside the box.
- loop_->change_R() =
+ loop_->mutable_R() =
CoerceGoal(R_poly, equality_k, equality_w, loop_->R());
}
@@ -587,12 +587,12 @@
loop_->K() * (loop_->R() - loop_->X_hat()) + FF_volts;
for (int i = 0; i < 2; i++) {
- loop_->change_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
+ loop_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
}
// TODO(austin): Model this better.
// TODO(austin): Feed back?
- loop_->change_X_hat() =
+ loop_->mutable_X_hat() =
loop_->A() * loop_->X_hat() + loop_->B() * loop_->U();
} else {
// Any motor is not in gear. Speed match.
@@ -604,13 +604,13 @@
const double wiggle =
(static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
- loop_->change_U(0) = ::aos::Clip(
+ loop_->mutable_U(0) = ::aos::Clip(
(R_left / Kv)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle),
-12.0, 12.0);
- loop_->change_U(1) = ::aos::Clip(
+ loop_->mutable_U(1) = ::aos::Clip(
(R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
-12.0, 12.0);
- loop_->change_U() *= 12.0 / position_.battery_voltage;
+ loop_->mutable_U() *= 12.0 / position_.battery_voltage;
}
}
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index a307388..548bd06 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -59,9 +59,9 @@
// Resets the plant.
void Reinitialize() {
- drivetrain_plant_->change_X(0) = 0.0;
- drivetrain_plant_->change_X(1) = 0.0;
- drivetrain_plant_->change_Y() =
+ drivetrain_plant_->mutable_X(0) = 0.0;
+ drivetrain_plant_->mutable_X(1) = 0.0;
+ drivetrain_plant_->mutable_Y() =
drivetrain_plant_->C() * drivetrain_plant_->X();
last_left_position_ = drivetrain_plant_->Y(0);
last_right_position_ = drivetrain_plant_->Y(1);
@@ -88,7 +88,7 @@
last_left_position_ = drivetrain_plant_->Y(0);
last_right_position_ = drivetrain_plant_->Y(1);
EXPECT_TRUE(my_drivetrain_loop_.output.FetchLatest());
- drivetrain_plant_->change_U() << my_drivetrain_loop_.output->left_voltage,
+ drivetrain_plant_->mutable_U() << my_drivetrain_loop_.output->left_voltage,
my_drivetrain_loop_.output->right_voltage;
drivetrain_plant_->Update();
}