Do some initial y2020 drivetrain tuning
1) Makes the drivetrain replay work in a multinode world.
2) Tweaks localizer and spline constants.
3) Initializes the localizer at the start of auto.
4) Runs a simple s-spline in auto, just for kicks.
Change-Id: I1cf990ee8d0c0811fa1e8de7b62209eb0260fa29
diff --git a/frc971/analysis/plot_configs/localizer.pb b/frc971/analysis/plot_configs/localizer.pb
index 644b516..930d63d 100644
--- a/frc971/analysis/plot_configs/localizer.pb
+++ b/frc971/analysis/plot_configs/localizer.pb
@@ -185,6 +185,18 @@
line {
y_signal {
channel: "DrivetrainStatus"
+ field: "trajectory_logging.left_velocity"
+ }
+ }
+ line {
+ y_signal {
+ channel: "DrivetrainStatus"
+ field: "trajectory_logging.right_velocity"
+ }
+ }
+ line {
+ y_signal {
+ channel: "DrivetrainStatus"
field: "localizer.left_velocity"
}
}