Remove unused things from drivetrain_config.
Change-Id: Id90bcb2e70357c267d7680be6b4285c853120971
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index a2d9fdd..04cfa6c 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -25,17 +25,9 @@
::std::function<StateFeedbackLoop<7, 2, 3>()> make_kf_drivetrain_loop;
double dt; // Control loop time step.
- double stall_torque; // Stall torque in N m.
- double stall_current; // Stall current in amps.
- double free_speed_rpm; // Free speed in rpm.
- double free_current; // Free current in amps.
- double j; // CIM moment of inertia in kg m^2.
- double mass; // Mass of the robot.
double robot_radius; // Robot radius, in meters.
double wheel_radius; // Wheel radius, in meters.
- double r; // Motor resistance.
double v; // Motor velocity constant.
- double t; // Torque constant.
// Gear ratios, from wheel to motor shaft.
double high_gear_ratio;
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 1e18b68..e78fa22 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -20,14 +20,15 @@
::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop,
- drivetrain::kDt, drivetrain::kStallTorque, drivetrain::kStallCurrent,
- drivetrain::kFreeSpeedRPM, drivetrain::kFreeCurrent, drivetrain::kJ,
- drivetrain::kMass, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
- drivetrain::kR, drivetrain::kV, drivetrain::kT,
+ drivetrain::kDt,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
constants::GetValues().high_gear_ratio,
constants::GetValues().low_gear_ratio,
- constants::GetValues().left_drive, constants::GetValues().right_drive};
+ constants::GetValues().left_drive,
+ constants::GetValues().right_drive};
return kDrivetrainConfig;
};
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index cd0462b..0065199 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -26,20 +26,12 @@
::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
drivetrain::kDt,
- drivetrain::kStallTorque,
- drivetrain::kStallCurrent,
- drivetrain::kFreeSpeedRPM,
- drivetrain::kFreeCurrent,
- drivetrain::kJ,
- drivetrain::kMass,
drivetrain::kRobotRadius,
drivetrain::kWheelRadius,
- drivetrain::kR,
drivetrain::kV,
- drivetrain::kT,
+
drivetrain::kHighGearRatio,
drivetrain::kLowGearRatio,
-
kThreeStateDriveShifter,
kThreeStateDriveShifter};