commit 2c590c313d2ce1516a9adf42a3f68a1a7396a94a
author Brian Silverman <brians> Mon Nov 04 18:08:54 2013 -0800
committer Brian Silverman <brians> Mon Nov 04 18:08:54 2013 -0800
tree 1f1460225963ba386e8151261bcce51e77069ad1
parent 1a6590db385be2bc6b1753f1b8fb8b726548e803

added support for both drivetrains with the same code

Previously, we were just switching back and forth manually, which
doesn't work very well. The python code for (both) drivetrain loops now
generates constants for both robots and frc971/constants knows which one
to give the actual drivetrain control loop code.

Various other cleanups to things that were so hard to read it made it
difficult to figure out how to do this too.

frc971/control_loops/state_feedback_loop.h

diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 4c35419..38ca89c 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -5,9 +5,6 @@
 
 #include <vector>
 
-// Stupid vxworks system headers define it which blows up Eigen...
-#undef m_data
-
 #include "Eigen/Dense"
 
 template <int number_of_states, int number_of_inputs, int number_of_outputs>
@@ -223,15 +220,14 @@
   Eigen::Matrix<double, number_of_outputs, 1> U_ff;
   Eigen::Matrix<double, number_of_outputs, 1> Y;
 
-  const StateFeedbackController<
-      number_of_states, number_of_inputs, number_of_outputs>
-          &controller() const {
+  const StateFeedbackController<number_of_states, number_of_inputs,
+                                number_of_outputs> &controller() const {
     return *controllers_[controller_index_];
   }
 
-  const StateFeedbackController<
-      number_of_states, number_of_inputs, number_of_outputs>
-          &controller(int index) const {
+  const StateFeedbackController<number_of_states, number_of_inputs,
+                                number_of_outputs> &controller(
+                                    int index) const {
     return *controllers_[index];
   }
 
@@ -244,22 +240,17 @@
     Y.setZero();
   }
 
-  StateFeedbackLoop(
-      const StateFeedbackController<number_of_states, number_of_inputs,
-                                    number_of_outputs> &controller)
+  StateFeedbackLoop(const StateFeedbackController<
+      number_of_states, number_of_inputs, number_of_outputs> &controller)
       : controller_index_(0) {
-    controllers_.push_back(
-        new StateFeedbackController<number_of_states, number_of_inputs,
-                                    number_of_outputs>(controller));
+    controllers_.push_back(new StateFeedbackController<
+        number_of_states, number_of_inputs, number_of_outputs>(controller));
     Reset();
   }
 
-  StateFeedbackLoop(
-      const ::std::vector<StateFeedbackController<
-          number_of_states, number_of_inputs,
-          number_of_outputs> *> &controllers)
-      : controllers_(controllers),
-        controller_index_(0) {
+  StateFeedbackLoop(const ::std::vector<StateFeedbackController<
+      number_of_states, number_of_inputs, number_of_outputs> *> &controllers)
+      : controllers_(controllers), controller_index_(0) {
     Reset();
   }