commit 6613a07089cb94a85621a960c571f4f4315c7d40
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

Made KF data available to polydrivetrain.

Change-Id: I067d0d05b9fc32d6ad50fbd35a6e9ad07b63f20d

y2014/control_loops/drivetrain/polydrivetrain.cc

diff --git a/y2014/control_loops/drivetrain/polydrivetrain.cc b/y2014/control_loops/drivetrain/polydrivetrain.cc
index 16ca10a..02d0658 100644
--- a/y2014/control_loops/drivetrain/polydrivetrain.cc
+++ b/y2014/control_loops/drivetrain/polydrivetrain.cc
@@ -23,8 +23,9 @@
 using ::y2014::control_loops::CIMLogging;
 using ::frc971::control_loops::CoerceGoal;
 
-PolyDrivetrain::PolyDrivetrain()
-    : U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
+PolyDrivetrain::PolyDrivetrain(StateFeedbackLoop<7, 2, 3> *kf)
+    : kf_(kf),
+      U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
                /*[*/ -1, 0 /*]*/,
                /*[*/ 0, 1 /*]*/,
                /*[*/ 0, -1 /*]]*/).finished(),