commit 33bc6842e0feecbaa985f320cd96948fb6876c0e
author Austin Schuh <austin.linux@gmail.com> Wed Feb 17 00:38:51 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Feb 17 00:38:51 2016 -0800
tree b57c325b70133193a5d6e6ac608510a0e5e5e174
parent 3130b370435ab1da131705f2d6cae25a5041e923

Pushed out drivetrain ratios from python.

Change-Id: Icfae095a57d7ba7cbb78cd9db3301359514af23f

y2016/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 2a2f36d..cd0462b 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -37,9 +37,9 @@
       drivetrain::kR,
       drivetrain::kV,
       drivetrain::kT,
+      drivetrain::kHighGearRatio,
+      drivetrain::kLowGearRatio,
 
-      constants::Values::kHighGearRatio,
-      constants::Values::kLowGearRatio,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter};
 

y2016/control_loops/python/drivetrain.py

diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 94905a2..bb86625 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -341,6 +341,10 @@
           drivetrain_low_low.Kv))
     dog_loop_writer.AddConstant(control_loop.Constant("kT", "%f",
           drivetrain_low_low.Kt))
+    dog_loop_writer.AddConstant(control_loop.Constant("kLowGearRatio", "%f",
+          drivetrain_low_low.G_low))
+    dog_loop_writer.AddConstant(control_loop.Constant("kHighGearRatio", "%f",
+          drivetrain_high_high.G_high))
 
     dog_loop_writer.Write(argv[1], argv[2])