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

y2017/control_loops/superstructure/shooter/shooter.cc

diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index c4d1630..8991658 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -23,7 +23,8 @@
 // TODO(austin): Pseudo current limit?
 
 ShooterController::ShooterController()
-    : loop_(new StateFeedbackLoop<3, 1, 1>(
+    : loop_(new StateFeedbackLoop<3, 1, 1, StateFeedbackHybridPlant<3, 1, 1>,
+                                  HybridKalman<3, 1, 1>>(
           superstructure::shooter::MakeIntegralShooterLoop())) {
   history_.fill(0);
   Y_.setZero();