| commit | 2527ed229972811967d3c097e259df11f38d2dc7 | [log] [tgz] |
|---|---|---|
| author | Campbell Crowley <mail@campbellcrowley.com> | Fri Feb 17 21:10:02 2017 -0800 |
| committer | Campbell Crowley <mail@campbellcrowley.com> | Fri Feb 17 21:42:44 2017 -0800 |
| tree | bf44b0bd31b5085fff258cd64c6ca5a7c4272290 | |
| parent | 645963c31449a4e9d5ba00c31f27b438bfe7c3a5 [diff] [blame] |
Add support in drivetrain for IMU gyro Change-Id: Id1d63cb2f01ae34d53c620168f85ac5d5b53e665
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc index 321962e..8748d4d 100644 --- a/y2012/control_loops/drivetrain/drivetrain_base.cc +++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -21,6 +21,7 @@ static DrivetrainConfig kDrivetrainConfig{ ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER, ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP, + ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO, ::y2012::control_loops::drivetrain::MakeDrivetrainLoop, ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop,