commit 4cc4fe264901cfbab1f0b7ead956ab0423ea803c
author Austin Schuh <austin.linux@gmail.com> Thu Nov 23 19:13:09 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Thu Nov 23 19:14:37 2017 -0800
tree 41c5225e2d5c6dd30b19adde5c0be8d33cf338a1
parent e17b35d682cbe62a69a1e6d434170666c1e57d8a

Split hybrid statespace loop out into a separate file

This reduces dependencies for the state feedback loop so we can bake
it into the pistol grip controller.

Change-Id: Ic2769123ebe837aec0624e1e5a1eb0bcbac64431

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 8eb67fe..50e4314 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -118,6 +118,10 @@
       fd.write('#ifndef %s\n'
                '#define %s\n\n' % (header_guard, header_guard))
       fd.write('#include \"frc971/control_loops/state_feedback_loop.h\"\n')
+      if (self._plant_type == 'StateFeedbackHybridPlant' or
+          self._observer_type == 'HybridKalman'):
+        fd.write('#include \"frc971/control_loops/hybrid_state_feedback_loop.h\"\n')
+
       fd.write('\n')
 
       fd.write(self._namespace_start)