commit 4156560165d1036976f73edb63bd00cdf88c4e92
author Austin Schuh <austin.linux@gmail.com> Sun Feb 28 20:10:49 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 28 22:03:30 2016 -0800
tree 720308a9e7777ec7d943f011553a1d42562c0eaa
parent 4cd5b3540fed835a21000443e906121e6d77fe0d

Fixed bug where kalman filter was being coppied rather than passed by pointer.

Change-Id: Ib2d0fa0ec2e5a0b19592ca419fec339252a3f698

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 50c5df7..aabd89d 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -29,7 +29,9 @@
     : aos::controls::ControlLoop<::frc971::control_loops::DrivetrainQueue>(
           my_drivetrain),
       dt_config_(dt_config),
-      kf_(dt_config_.make_kf_drivetrain_loop()) {
+      kf_(dt_config_.make_kf_drivetrain_loop()),
+      dt_openloop_(dt_config_, &kf_),
+      dt_closedloop_(dt_config_) {
   ::aos::controls::HPolytope<0>::Init();
 }
 
@@ -116,6 +118,8 @@
     status->output_was_capped = dt_closedloop_.OutputWasCapped();
     status->uncapped_left_voltage = dt_closedloop_.loop().U_uncapped(0, 0);
     status->uncapped_right_voltage = dt_closedloop_.loop().U_uncapped(1, 0);
+
+    dt_openloop_.PopulateStatus(status);
   }
 
   double left_voltage = 0.0;