| commit | 6613a07089cb94a85621a960c571f4f4315c7d40 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Wed Jan 06 19:54:48 2016 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Wed Jan 06 19:54:48 2016 -0800 |
| tree | c148a4be4b255b2a9e810661d6a96e7063238a34 | |
| parent | b61f34a2c8d2c18784ac676fa1b927d550df69b4 [diff] [blame] |
Made KF data available to polydrivetrain. Change-Id: I067d0d05b9fc32d6ad50fbd35a6e9ad07b63f20d
diff --git a/y2014/control_loops/drivetrain/drivetrain.h b/y2014/control_loops/drivetrain/drivetrain.h index 7ecc09f..489b4ca 100644 --- a/y2014/control_loops/drivetrain/drivetrain.h +++ b/y2014/control_loops/drivetrain/drivetrain.h
@@ -38,9 +38,9 @@ double last_gyro_heading_ = 0.0; double last_gyro_rate_ = 0.0; + StateFeedbackLoop<7, 2, 3> kf_; PolyDrivetrain dt_openloop_; DrivetrainMotorsSS dt_closedloop_; - StateFeedbackLoop<7, 2, 3> kf_; double last_left_voltage_ = 0; double last_right_voltage_ = 0;