commit 3ad5ed8359234dbeafbd1522208151176ac17173
author Austin Schuh <austin.linux@gmail.com> Sat Feb 25 21:36:19 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 04 17:55:14 2017 -0800
tree 8b92838ac356fcf038b3f2984d9ef4d5d16e949e
parent e91f14ce0d3569b224c85d8ca29b6697e20241f0

Added a hybrid KF for the shooter.

Change-Id: If3ba2e6978773aef2e63c9bfeb0cc6e2dec483d5

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 2e680a3..aa6cd60 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -151,7 +151,7 @@
         rate, angle, down_estimator_.X_hat(0, 0), down_estimator_.X_hat(1, 0));
     down_U_(0, 0) = rate;
   }
-  down_estimator_.UpdateObserver(down_U_);
+  down_estimator_.UpdateObserver(down_U_, ::aos::controls::kLoopFrequency);
 
   // TODO(austin): Signal the current gear to both loops.
 
@@ -292,7 +292,7 @@
   last_left_voltage_ = left_voltage;
   last_right_voltage_ = right_voltage;
 
-  kf_.UpdateObserver(U);
+  kf_.UpdateObserver(U, ::aos::controls::kLoopFrequency);
 }
 
 void DrivetrainLoop::Zero(