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.h

diff --git a/y2014/control_loops/drivetrain/polydrivetrain.h b/y2014/control_loops/drivetrain/polydrivetrain.h
index d57ff4c..5cd7fff 100644
--- a/y2014/control_loops/drivetrain/polydrivetrain.h
+++ b/y2014/control_loops/drivetrain/polydrivetrain.h
@@ -32,7 +32,7 @@
   // Torque constant
   static constexpr double Kt = drivetrain::kT;
 
-  PolyDrivetrain();
+  PolyDrivetrain(StateFeedbackLoop<7, 2, 3> *kf);
 
   int controller_index() const { return loop_->controller_index(); }
 
@@ -65,6 +65,7 @@
   void SendMotors(::y2014::control_loops::DrivetrainQueue::Output *output);
 
  private:
+  StateFeedbackLoop<7, 2, 3> *kf_;
   const ::aos::controls::HPolytope<2> U_Poly_;
 
   ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;