commit 2549e75cad81d7b86e9240ff5094876b6e964574
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jan 20 17:42:51 2024 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jan 27 19:09:31 2024 -0800
tree 3a3653c1fc482b64929eeb00f52463956a38f8c8
parent 62c3bd8f308f8d868823100df06379b821584a29

Swap y2024 drivetrain to use ConstantsFetcher

Simultaneously, remove the line following configuration from the y2024
drivetrain, since that code will not be relevant to this year.

Change-Id: I536bd2dd18080bbaae5d83cb151bbd2353d7896c
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/control_loops/drivetrain/drivetrain_config.h

diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 2b0471a..31c911a 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -214,10 +214,14 @@
           .high_gear_ratio = fbs.loop_config()->high_gear_ratio(),
           .low_gear_ratio = fbs.loop_config()->low_gear_ratio(),
           .J = fbs.loop_config()->moment_of_inertia(),
-          .mass = fbs.loop_config()->mass(), .left_drive = *fbs.left_drive(),
-          .right_drive = *fbs.right_drive(), ASSIGN(default_high_gear),
-          ASSIGN(down_offset), ASSIGN(wheel_non_linearity),
-          ASSIGN(quickturn_wheel_multiplier), ASSIGN(wheel_multiplier),
+          .mass = fbs.loop_config()->mass(),
+          .left_drive =
+              fbs.has_left_drive() ? *fbs.left_drive() : ShifterHallEffect{},
+          .right_drive =
+              fbs.has_right_drive() ? *fbs.right_drive() : ShifterHallEffect{},
+          ASSIGN(default_high_gear), ASSIGN(down_offset),
+          ASSIGN(wheel_non_linearity), ASSIGN(quickturn_wheel_multiplier),
+          ASSIGN(wheel_multiplier),
           ASSIGN(pistol_grip_shift_enables_line_follow),
           .imu_transform =
               ToEigenOrDie<3, 3>(*CHECK_NOTNULL(fbs.imu_transform())),