commit 38e7964947af30fe65107643cc75d8d2c04ec92f
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 09 15:48:27 2019 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Wed Mar 20 06:15:19 2019 -0700
tree b6ef5574e7b626925da7295b59caa8b8de8aa515
parent e093f51c4d20b42abb16984d016bab6ed857ef68

Improving line following

This makes it so that we try to drive the robot to have the edge of the
hatch panel hit the edge of the velcro on the target.

Also contains a few other tweaks that happened in the interim.

Change-Id: I2d2bffa2b88423b9ac94107daaa0602892ff4da2

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 1b37612..58ce2a1 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -257,7 +257,7 @@
     dt_closedloop_.SetGoal(*goal);
     dt_openloop_.SetGoal(*goal);
     dt_spline_.SetGoal(*goal);
-    dt_line_follow_.SetGoal(*goal);
+    dt_line_follow_.SetGoal(monotonic_now, *goal);
   }
 
   dt_openloop_.Update(robot_state().voltage_battery);
@@ -272,7 +272,7 @@
 
   dt_spline_.Update(output != NULL && controller_type == 2, trajectory_state);
 
-  dt_line_follow_.Update(trajectory_state);
+  dt_line_follow_.Update(monotonic_now, trajectory_state);
 
   switch (controller_type) {
     case 0: