commit 6197a181db9d012c04238ed37fafca14b980cb18
author Austin Schuh <austin.linux@gmail.com> Sat Nov 28 16:04:40 2015 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 28 16:04:40 2015 -0800
tree 44854495489743070c8d5a8ca5fdb35a78485278
parent 8074baa537003f10b9ed2d24154ce1ebc0bae990

Moved 2014 drivetrain code into y2014 namespace.

Change-Id: I74a1922f846a288725df2aea01c5c9e1b99e07b3

y2014/control_loops/drivetrain/polydrivetrain.h

diff --git a/y2014/control_loops/drivetrain/polydrivetrain.h b/y2014/control_loops/drivetrain/polydrivetrain.h
index 82ebd24..1f9a27b 100644
--- a/y2014/control_loops/drivetrain/polydrivetrain.h
+++ b/y2014/control_loops/drivetrain/polydrivetrain.h
@@ -8,35 +8,34 @@
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 
-namespace frc971 {
+namespace y2014 {
 namespace control_loops {
+namespace drivetrain {
 
 class PolyDrivetrain {
  public:
   enum Gear { HIGH, LOW, SHIFTING_UP, SHIFTING_DOWN };
   // Stall Torque in N m
-  static constexpr double kStallTorque =
-      ::y2014::control_loops::drivetrain::kStallTorque;
+  static constexpr double kStallTorque = kStallTorque;
   // Stall Current in Amps
-  static constexpr double kStallCurrent = ::y2014::control_loops::drivetrain::kStallCurrent;
+  static constexpr double kStallCurrent = kStallCurrent;
   // Free Speed in RPM. Used number from last year.
-  static constexpr double kFreeSpeed =
-      ::y2014::control_loops::drivetrain::kFreeSpeedRPM;
+  static constexpr double kFreeSpeed = kFreeSpeedRPM;
   // Free Current in Amps
-  static constexpr double kFreeCurrent =
-      ::y2014::control_loops::drivetrain::kFreeCurrent;
-  static constexpr double kWheelRadius =
-      ::y2014::control_loops::drivetrain::kWheelRadius;
-  // Resistance of the motor, divided by the number of motors.
-  static constexpr double kR = ::y2014::control_loops::drivetrain::kR;
+  static constexpr double kFreeCurrent = kFreeCurrent;
+  static constexpr double kWheelRadius = kWheelRadius;
+  // Resistance of the motor, divided by the number of motors per side.
+  static constexpr double kR = kR;
   // Motor velocity constant
-  static constexpr double Kv = ::y2014::control_loops::drivetrain::kV;
+  static constexpr double Kv = kV;
 
   // Torque constant
-  static constexpr double Kt = ::y2014::control_loops::drivetrain::kT;
+  static constexpr double Kt = kT;
 
   PolyDrivetrain();
 
+  int controller_index() const { return loop_->controller_index(); }
+
   static bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
 
   static double MotorSpeed(const constants::ShifterHallEffect &hall_effect,
@@ -47,7 +46,8 @@
 
   void SetGoal(double wheel, double throttle, bool quickturn, bool highgear);
 
-  void SetPosition(const DrivetrainQueue::Position *position);
+  void SetPosition(
+      const ::frc971::control_loops::DrivetrainQueue::Position *position);
 
   double FilterVelocity(double throttle);
 
@@ -55,7 +55,7 @@
 
   void Update();
 
-  void SendMotors(DrivetrainQueue::Output *output);
+  void SendMotors(::frc971::control_loops::DrivetrainQueue::Output *output);
 
  private:
   const ::aos::controls::HPolytope<2> U_Poly_;
@@ -70,12 +70,13 @@
   double position_time_delta_;
   Gear left_gear_;
   Gear right_gear_;
-  DrivetrainQueue::Position last_position_;
-  DrivetrainQueue::Position position_;
+  ::frc971::control_loops::DrivetrainQueue::Position last_position_;
+  ::frc971::control_loops::DrivetrainQueue::Position position_;
   int counter_;
 };
 
+}  // namespace drivetrain
 }  // namespace control_loops
-}  // namespace frc971
+}  // namespace y2014
 
 #endif  // Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_