Moved 2014 drivetrain code into y2014 namespace.
Change-Id: I74a1922f846a288725df2aea01c5c9e1b99e07b3
diff --git a/y2014/control_loops/drivetrain/polydrivetrain.cc b/y2014/control_loops/drivetrain/polydrivetrain.cc
index c97be6f..795ad04 100644
--- a/y2014/control_loops/drivetrain/polydrivetrain.cc
+++ b/y2014/control_loops/drivetrain/polydrivetrain.cc
@@ -15,10 +15,13 @@
#define HAVE_SHIFTERS 1
-namespace frc971 {
+namespace y2014 {
namespace control_loops {
+namespace drivetrain {
-using ::y2014::control_loops::drivetrain::kDt;
+using ::frc971::control_loops::GearLogging;
+using ::frc971::control_loops::CIMLogging;
+using ::frc971::control_loops::CoerceGoal;
PolyDrivetrain::PolyDrivetrain()
: U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
@@ -154,7 +157,8 @@
}
}
}
-void PolyDrivetrain::SetPosition(const DrivetrainQueue::Position *position) {
+void PolyDrivetrain::SetPosition(
+ const ::frc971::control_loops::DrivetrainQueue::Position *position) {
const auto &values = constants::GetValues();
if (position == NULL) {
++stale_count_;
@@ -397,7 +401,8 @@
}
}
-void PolyDrivetrain::SendMotors(DrivetrainQueue::Output *output) {
+void PolyDrivetrain::SendMotors(
+ ::frc971::control_loops::DrivetrainQueue::Output *output) {
if (output != NULL) {
output->left_voltage = loop_->U(0, 0);
output->right_voltage = loop_->U(1, 0);
@@ -415,5 +420,6 @@
constexpr double PolyDrivetrain::Kv;
constexpr double PolyDrivetrain::Kt;
+} // namespace drivetrain
} // namespace control_loops
-} // namespace frc971
+} // namespace y2014