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>
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())),