Upgraded //y2012 to use the common drive code.
This is a fixup from changing the call signature of DoCoerceGoal
Change-Id: I6a99f666bebd9a728f42083a9c0280e8f2dab295
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..321962e
--- /dev/null
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,48 @@
+#include "y2012/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+ static DrivetrainConfig kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+
+ ::y2012::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2012::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ drivetrain::kDt,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true,
+ 0.0,
+ 0.4,
+ 1.0};
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012