s/change_/mutable_/g
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index c4d183a..2d8df35 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -35,7 +35,7 @@
voltage_ = std::min(max_voltage_, voltage_);
voltage_ = std::max(-max_voltage_, voltage_);
- change_U(0) = voltage_ - old_voltage;
+ mutable_U(0) = voltage_ - old_voltage;
LOG_STRUCT(DEBUG, "output", ShooterVoltageToLog(X_hat(2), voltage_));
@@ -49,11 +49,11 @@
if (controller_index() == 0) {
dx = (uncapped_voltage() - max_voltage_) /
(K(0, 0) - A(1, 0) * K(0, 2) / A(1, 2));
- change_R(0) -= dx;
- change_R(2) -= -A(1, 0) / A(1, 2) * dx;
+ mutable_R(0) -= dx;
+ mutable_R(2) -= -A(1, 0) / A(1, 2) * dx;
} else {
dx = (uncapped_voltage() - max_voltage_) / K(0, 0);
- change_R(0) -= dx;
+ mutable_R(0) -= dx;
}
capped_goal_ = true;
LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
@@ -62,11 +62,11 @@
if (controller_index() == 0) {
dx = (uncapped_voltage() + max_voltage_) /
(K(0, 0) - A(1, 0) * K(0, 2) / A(1, 2));
- change_R(0) -= dx;
- change_R(2) -= -A(1, 0) / A(1, 2) * dx;
+ mutable_R(0) -= dx;
+ mutable_R(2) -= -A(1, 0) / A(1, 2) * dx;
} else {
dx = (uncapped_voltage() + max_voltage_) / K(0, 0);
- change_R(0) -= dx;
+ mutable_R(0) -= dx;
}
capped_goal_ = true;
LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
@@ -77,9 +77,9 @@
void ZeroedStateFeedbackLoop::RecalculatePowerGoal() {
if (controller_index() == 0) {
- change_R(2) = (-A(1, 0) / A(1, 2) * R(0) - A(1, 1) / A(1, 2) * R(1));
+ mutable_R(2) = (-A(1, 0) / A(1, 2) * R(0) - A(1, 1) / A(1, 2) * R(1));
} else {
- change_R(2) = -A(1, 1) / A(1, 2) * R(1);
+ mutable_R(2) = -A(1, 1) / A(1, 2) * R(1);
}
}
@@ -89,15 +89,15 @@
double previous_offset = offset_;
offset_ = known_position - encoder_val;
double doffset = offset_ - previous_offset;
- change_X_hat(0) += doffset;
+ mutable_X_hat(0) += doffset;
// Offset our measurements because the offset is baked into them.
// This is safe because if we got here, it means position != nullptr, which
// means we already set Y to something and it won't just get overwritten.
- change_Y(0) += doffset;
+ mutable_Y(0) += doffset;
// Offset the goal so we don't move.
- change_R(0) += doffset;
+ mutable_R(0) += doffset;
if (controller_index() == 0) {
- change_R(2) += -A(1, 0) / A(1, 2) * (doffset);
+ mutable_R(2) += -A(1, 0) / A(1, 2) * (doffset);
}
LOG_STRUCT(
DEBUG, "sensor edge (fake?)",