commit 0e997732d025d9b2d471b8e3989122bd62020199
author Austin Schuh <austin@peloton-tech.com> Sun Nov 08 15:14:53 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Nov 08 15:14:53 2015 -0800
tree 8a7087bf7013a66eaa884224116359e2df297cfc
parent 9d4aca8618262d496235220d38dad3c23c83a7bf

Claw, shooter and drivetrain are now generated.

Change-Id: I0aaa42a77cfef8362dcd39ea660fdf9e484279ea

y2014/control_loops/drivetrain/drivetrain.cc

diff --git a/y2014/control_loops/drivetrain/drivetrain.cc b/y2014/control_loops/drivetrain/drivetrain.cc
index a326125..b6dffa0 100644
--- a/y2014/control_loops/drivetrain/drivetrain.cc
+++ b/y2014/control_loops/drivetrain/drivetrain.cc
@@ -15,8 +15,8 @@
 #include "y2014/constants.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain_cim_plant.h"
 #include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "frc971/queues/gyro.q.h"
 #include "frc971/shifter_hall_effect.h"
 
@@ -29,6 +29,8 @@
 namespace frc971 {
 namespace control_loops {
 
+using ::y2014::control_loops::drivetrain::kDt;
+
 class DrivetrainMotorsSS {
  public:
   class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
@@ -286,7 +288,7 @@
         throttle_(0.0),
         quickturn_(false),
         stale_count_(0),
-        position_time_delta_(0.01),
+        position_time_delta_(kDt),
         left_gear_(LOW),
         right_gear_(LOW),
         counter_(0) {
@@ -410,7 +412,7 @@
     } else {
       last_position_ = position_;
       position_ = *position;
-      position_time_delta_ = (stale_count_ + 1) * 0.01;
+      position_time_delta_ = (stale_count_ + 1) * kDt;
       stale_count_ = 0;
     }