commit 6260c09364620cecec0f169c79704b58b5877db1
author Brian Silverman <bsilver16384@gmail.com> Sun Jan 14 15:21:36 2018 -0800
committer Brian Silverman <bsilver16384@gmail.com> Sat Feb 03 22:33:51 2018 -0500
tree 2335333106884c9a437f72911401c5753050a311
parent 587edcc2c659923c17505e9f4676a415d4f8b4da

Finish the pistol grip code

Change-Id: I95c03a95ac0ec64b4314ec310ad6535176b1d529

frc971/control_loops/state_feedback_loop.h

diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index b9765fc..a1e6cd4 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -12,7 +12,9 @@
 #include "Eigen/Dense"
 #include "unsupported/Eigen/MatrixFunctions"
 
+#if defined(__linux__)
 #include "aos/common/logging/logging.h"
+#endif
 #include "aos/common/macros.h"
 
 template <int number_of_states, int number_of_inputs, int number_of_outputs,
@@ -151,7 +153,11 @@
     for (int i = 0; i < kNumInputs; ++i) {
       if (U(i, 0) > U_max(i, 0) + static_cast<Scalar>(0.00001) ||
           U(i, 0) < U_min(i, 0) - static_cast<Scalar>(0.00001)) {
+#if defined(__linux__)
         LOG(FATAL, "U out of range\n");
+#else
+        abort();
+#endif
       }
     }
   }