commit 209f17067fdd2e3c1225b314aaa8f252b87adbc6
author Austin Schuh <austin.linux@gmail.com> Sun Nov 29 17:03:00 2015 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Dec 18 20:59:50 2015 -0800
tree 189537c2c85944f2c63ec027f48a243b553cdfdb
parent 250eb4c31a282717bafe63f37d64b88f48d21108

Tuned drivetrain kalman filter.

Change-Id: I630770a1331cf896bc6d2de6a58fee880c0185c3

y2014/control_loops/drivetrain/ssdrivetrain.h

diff --git a/y2014/control_loops/drivetrain/ssdrivetrain.h b/y2014/control_loops/drivetrain/ssdrivetrain.h
index f79a993..5945f96 100644
--- a/y2014/control_loops/drivetrain/ssdrivetrain.h
+++ b/y2014/control_loops/drivetrain/ssdrivetrain.h
@@ -51,6 +51,9 @@
     return loop_->X_hat(0, 0);
   }
 
+  double left_velocity() const { return loop_->X_hat(1, 0); }
+  double right_velocity() const { return loop_->X_hat(3, 0); }
+
   double GetEstimatedRightEncoder() const {
     return loop_->X_hat(2, 0);
   }