Split out statespace drivetrain code.
Change-Id: I02900583abfab39b2d85473bd245ffd6bf421d58
diff --git a/y2014/control_loops/drivetrain/drivetrain.h b/y2014/control_loops/drivetrain/drivetrain.h
index 87e6362..c5b731d 100644
--- a/y2014/control_loops/drivetrain/drivetrain.h
+++ b/y2014/control_loops/drivetrain/drivetrain.h
@@ -7,6 +7,8 @@
#include "aos/common/controls/control_loop.h"
#include "aos/common/controls/polytope.h"
#include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "y2014/control_loops/drivetrain/polydrivetrain.h"
+#include "y2014/control_loops/drivetrain/ssdrivetrain.h"
#include "aos/common/util/log_interval.h"
namespace frc971 {
@@ -35,6 +37,9 @@
typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
SimpleLogInterval no_position_ = SimpleLogInterval(
::aos::time::Time::InSeconds(0.25), WARNING, "no position");
+
+ PolyDrivetrain dt_openloop_;
+ DrivetrainMotorsSS dt_closedloop_;
};
} // namespace control_loops