commit 2527ed229972811967d3c097e259df11f38d2dc7
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

Add support in drivetrain for IMU gyro

Change-Id: Id1d63cb2f01ae34d53c620168f85ac5d5b53e665

y2016/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 1674540..f66d963 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -22,6 +22,7 @@
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+      ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
 
       ::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
       ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,