commit 1a38796833dc771673b7ee996f9090b5f6ae1549
author Austin Schuh <austin@peloton-tech.com> Sat Jan 31 16:36:20 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Sat Jan 31 21:52:32 2015 -0800
tree 7f64c3a4f6f6e765792387bfcdababf8127b0353
parent d49fd78826093632f4294d27b3a8b9495dfde7a7

Added control loops for all subsystems and made tests run.

Change-Id: I66542db4355a89f6d24c1ad4772004182197c863

frc971/control_loops/fridge/fridge.cc

diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index 94e8271..a226915 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -11,10 +11,8 @@
 
 Fridge::Fridge(control_loops::FridgeQueue *fridge)
     : aos::controls::ControlLoop<control_loops::FridgeQueue>(fridge),
-      left_arm_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())),
-      right_arm_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())),
-      left_elev_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())),
-      right_elev_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())) {}
+      arm_loop_(new StateFeedbackLoop<4, 2, 2>(MakeArmLoop())),
+      elev_loop_(new StateFeedbackLoop<4, 2, 2>(MakeElevatorLoop())) {}
 
 void Fridge::RunIteration(
     const control_loops::FridgeQueue::Goal * /*goal*/,
@@ -22,7 +20,7 @@
     control_loops::FridgeQueue::Output * /*output*/,
     control_loops::FridgeQueue::Status * /*status*/) {
 
-  LOG(DEBUG, "Hi Brian!");
+  LOG(DEBUG, "Hi Brian!\n");
 }
 
 }  // namespace control_loops