Merge "Use 2020 drivetrain in spline GUI"
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 30abc87..d223d13 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -562,7 +562,7 @@
":trajectory",
"//aos/logging:implementations",
"//aos/network:team_number",
- "//y2019/control_loops/drivetrain:drivetrain_base",
+ "//y2020/control_loops/drivetrain:drivetrain_base",
"@org_tuxfamily_eigen//:eigen",
],
)
diff --git a/frc971/control_loops/drivetrain/libspline.cc b/frc971/control_loops/drivetrain/libspline.cc
index 5ad175e..a9820f7 100644
--- a/frc971/control_loops/drivetrain/libspline.cc
+++ b/frc971/control_loops/drivetrain/libspline.cc
@@ -8,7 +8,7 @@
#include "frc971/control_loops/drivetrain/distance_spline.h"
#include "frc971/control_loops/drivetrain/spline.h"
#include "frc971/control_loops/drivetrain/trajectory.h"
-#include "y2019/control_loops/drivetrain/drivetrain_base.h"
+#include "y2020/control_loops/drivetrain/drivetrain_base.h"
namespace frc971 {
namespace control_loops {
@@ -124,7 +124,7 @@
Trajectory *NewTrajectory(DistanceSpline *spline, double vmax,
int num_distance) {
return new Trajectory(
- spline, ::y2019::control_loops::drivetrain::GetDrivetrainConfig(), vmax,
+ spline, ::y2020::control_loops::drivetrain::GetDrivetrainConfig(), vmax,
num_distance);
}
diff --git a/frc971/control_loops/python/lib_spline_test.py b/frc971/control_loops/python/lib_spline_test.py
index d544cbb..b4efe72 100644
--- a/frc971/control_loops/python/lib_spline_test.py
+++ b/frc971/control_loops/python/lib_spline_test.py
@@ -32,7 +32,7 @@
trajectory = Trajectory(dSpline)
trajectory.Plan()
plan = trajectory.GetPlanXVA(5.05*1e-3)
- self.assertEqual(plan.shape, (3, 617))
+ self.assertEqual(plan.shape, (3, 624))
def testLimits(self):
""" A plan with a lower limit should take longer. """
@@ -44,7 +44,7 @@
trajectory.LimitVelocity(0, trajectory.Length(), 3)
trajectory.Plan()
plan = trajectory.GetPlanXVA(5.05*1e-3)
- self.assertEqual(plan.shape, (3, 650))
+ self.assertEqual(plan.shape, (3, 656))
if __name__ == '__main__':