copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/frc971/control_loops/DriveTrain.mat b/frc971/control_loops/DriveTrain.mat
new file mode 100644
index 0000000..fcc6f45
--- /dev/null
+++ b/frc971/control_loops/DriveTrain.mat
@@ -0,0 +1,12 @@
+#include "frc971/control_loops/StateFeedbackLoop.h"
+
+typedef StateFeedbackLoop<4, 2> MatrixClass;
+#define MATRIX_INIT A << 1.0000000000, 0.0095410093, 0.0000000000, -0.0000167223, 0.0000000000, 0.9096302600, 0.0000000000, -0.0032396985, 0.0000000000, -0.0000167223, 1.0000000000, 0.0095410093, 0.0000000000, -0.0032396985, 0.0000000000, 0.9096302600; \
+B << 0.0000628338, 0.0000022892, 0.0123712263, 0.0004435007, 0.0000022892, 0.0000628338, 0.0004435007, 0.0123712263; \
+C << 1.0000000000, 0.0000000000, 0.0000000000, 0.0000000000, 0.0000000000, 0.0000000000, 1.0000000000, 0.0000000000; \
+D << 0.0000000000, 0.0000000000, 0.0000000000, 0.0000000000; \
+L << 1.7496302600, -0.0032396985, 72.1296388532, -0.4369906587, -0.0032396985, 1.7496302600, -0.4369906586, 72.1296388532; \
+K << 242.8102455120, 19.7898401032, -8.7045950610, -0.9720464423, -8.7045950610, -0.9720464423, 242.8102455120, 19.7898401032; \
+U_max << 12.0000000000, 12.0000000000; \
+U_min << -12.0000000000, -12.0000000000; \
+