commit 3250183ba1e2133b4911bdc9e7f8e1cb60bcf61f
author Austin Schuh <austin.linux@gmail.com> Sat Feb 25 18:32:56 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 04 17:55:14 2017 -0800
tree 8a86b454bfbe317f6f004c22ea6eee4f2407ee5a
parent c5fceb86fa7afa77119e57ba4fc824574f3a2328

Split StatespaceLoop into a Plant, Controller, and Observer.

This doesn't yet move any of the logic out of the Loop.

Change-Id: I2cb0ea6d1a75c7011576ba752c50e512eeff5890

y2015/actors/drivetrain_actor.cc

diff --git a/y2015/actors/drivetrain_actor.cc b/y2015/actors/drivetrain_actor.cc
index 8772af7..91873eb 100644
--- a/y2015/actors/drivetrain_actor.cc
+++ b/y2015/actors/drivetrain_actor.cc
@@ -25,7 +25,8 @@
     : aos::common::actions::ActorBase<actors::DrivetrainActionQueueGroup>(s) {}
 
 bool DrivetrainActor::RunAction(const actors::DrivetrainActionParams &params) {
-  static const auto K = constants::GetValues().make_drivetrain_loop().K();
+  static const auto K =
+      constants::GetValues().make_drivetrain_loop().controller().K();
 
   const double yoffset = params.y_offset;
   const double turn_offset =

y2015/control_loops/claw/claw.cc

diff --git a/y2015/control_loops/claw/claw.cc b/y2015/control_loops/claw/claw.cc
index 25b5b9d..6a56105 100644
--- a/y2015/control_loops/claw/claw.cc
+++ b/y2015/control_loops/claw/claw.cc
@@ -25,7 +25,7 @@
 
 double ClawCappedStateFeedbackLoop::UnsaturateOutputGoalChange() {
   // Compute K matrix to compensate for position errors.
-  double Kp = K(0, 0);
+  double Kp = controller().K(0, 0);
 
   // Compute how much we need to change R in order to achieve the change in U
   // that was observed.

y2015/control_loops/fridge/fridge.cc

diff --git a/y2015/control_loops/fridge/fridge.cc b/y2015/control_loops/fridge/fridge.cc
index a6acae7..d34cd33 100644
--- a/y2015/control_loops/fridge/fridge.cc
+++ b/y2015/control_loops/fridge/fridge.cc
@@ -39,8 +39,8 @@
   // Compute the K matrix used to compensate for position errors.
   Eigen::Matrix<double, 2, 2> Kp;
   Kp.setZero();
-  Kp.col(0) = this->K().col(0);
-  Kp.col(1) = this->K().col(2);
+  Kp.col(0) = this->controller().K().col(0);
+  Kp.col(1) = this->controller().K().col(2);
 
   Eigen::Matrix<double, 2, 2> Kp_inv = Kp.inverse();