commit 21b01ee539e9b60f19048a1bd094ea67b61fa016
author Austin Schuh <austin.linux@gmail.com> Wed Nov 10 09:06:23 2021 -0800
committer Gerrit Code Review <gerrit@software.frc971.org> Wed Nov 10 09:06:23 2021 -0800
tree 508a2e7b49cee4da7d10b8b40a4be7d0ec47f51e
parent 81b2c8018bbcc3c1d8692cb020f396074e3335b3
parent a6531a93f938c8f2ddd0113e17874ba1f00a6f20

Merge "Switch IMUs for pbot to the old IMU"

y2020/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2020/control_loops/drivetrain/drivetrain_base.cc b/y2020/control_loops/drivetrain/drivetrain_base.cc
index 9cd7494..952c3dc 100644
--- a/y2020/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_base.cc
@@ -60,7 +60,7 @@
           .finished() /*imu_transform*/,
   };
 
-  if (::aos::network::GetTeamNumber() == constants::Values::kCompTeamNumber) {
+  if (::aos::network::GetTeamNumber() != constants::Values::kCodingRobotTeamNumber) {
     // TODO(james): Check X/Y axis
     // transformations.
     kDrivetrainConfig.imu_transform = (Eigen::Matrix<double, 3, 3>() << 1.0,

y2020/wpilib_interface.cc

diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 67afb1d..1b732bc 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -625,7 +625,7 @@
     std::unique_ptr<frc971::wpilib::ADIS16448> old_imu;
     std::unique_ptr<frc971::wpilib::ADIS16470> new_imu;
     std::unique_ptr<frc::SPI> imu_spi;
-    if (::aos::network::GetTeamNumber() == constants::Values::kCompTeamNumber) {
+    if (::aos::network::GetTeamNumber() != constants::Values::kCodingRobotTeamNumber) {
       old_imu = make_unique<frc971::wpilib::ADIS16448>(
           &imu_event_loop, spi_port, imu_trigger.get());
       old_imu->SetDummySPI(frc::SPI::Port::kOnboardCS2);