commit 250eb4c31a282717bafe63f37d64b88f48d21108
author Austin Schuh <austin.linux@gmail.com> Sat Nov 28 16:35:39 2015 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Nov 29 17:40:07 2015 -0800
tree c22e7d53132e06fae41daf6fcdc7a54ef16fc123
parent 2495710690c9c46e72c034aae5c04d0f0edee898

Fixed all constants being zero bug in polydrivetrain.

Change-Id: I20431001a1646eba5f28ed24ae68382da88ef1d3

y2014/control_loops/drivetrain/polydrivetrain.h

diff --git a/y2014/control_loops/drivetrain/polydrivetrain.h b/y2014/control_loops/drivetrain/polydrivetrain.h
index 1f9a27b..999509e 100644
--- a/y2014/control_loops/drivetrain/polydrivetrain.h
+++ b/y2014/control_loops/drivetrain/polydrivetrain.h
@@ -16,21 +16,21 @@
  public:
   enum Gear { HIGH, LOW, SHIFTING_UP, SHIFTING_DOWN };
   // Stall Torque in N m
-  static constexpr double kStallTorque = kStallTorque;
+  static constexpr double kStallTorque = drivetrain::kStallTorque;
   // Stall Current in Amps
-  static constexpr double kStallCurrent = kStallCurrent;
+  static constexpr double kStallCurrent = drivetrain::kStallCurrent;
   // Free Speed in RPM. Used number from last year.
-  static constexpr double kFreeSpeed = kFreeSpeedRPM;
+  static constexpr double kFreeSpeed = drivetrain::kFreeSpeedRPM;
   // Free Current in Amps
-  static constexpr double kFreeCurrent = kFreeCurrent;
-  static constexpr double kWheelRadius = kWheelRadius;
+  static constexpr double kFreeCurrent = drivetrain::kFreeCurrent;
+  static constexpr double kWheelRadius = drivetrain::kWheelRadius;
   // Resistance of the motor, divided by the number of motors per side.
-  static constexpr double kR = kR;
+  static constexpr double kR = drivetrain::kR;
   // Motor velocity constant
-  static constexpr double Kv = kV;
+  static constexpr double Kv = drivetrain::kV;
 
   // Torque constant
-  static constexpr double Kt = kT;
+  static constexpr double Kt = drivetrain::kT;
 
   PolyDrivetrain();