Finishing touches to common drivetrain loop
Change-Id: I169376f863eb1d5f2f2828f08dbd5125e36e7048
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 4894a51..96b27a6 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -13,6 +13,7 @@
namespace control_loops {
const DrivetrainConfig &GetDrivetrainConfig() {
+ // TODO(austin): Switch over to using the profile.
static DrivetrainConfig kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -31,8 +32,7 @@
constants::GetValues().left_drive,
constants::GetValues().right_drive,
true,
- // TODO(austin): Switch over to using the profle.
- false};
+ 0};
return kDrivetrainConfig;
};
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 52dafcc..883bdd2 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -7,8 +7,7 @@
int main() {
::aos::Init();
- DrivetrainLoop drivetrain =
- DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+ DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig());
drivetrain.Run();
::aos::Cleanup();
return 0;