commit 6802533547f4db9313211340637ea2e891093b52
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jan 20 17:06:02 2024 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jan 20 17:50:37 2024 -0800
tree ec17aea51eaf439225a3ba9acda57c564f1eccde
parent 1b56b0d0a2bdf68a2d71fcccd760c7f0afc8478d

Move some DrivetrainConfig types to flatbuffers

This makes it so that we can start to implement the DrivetrainConfig as
a flatbuffer.

Change-Id: I69b92fcc436e82662d01a329d048a80c67267267
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2014/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index d9f396e..a8021fd 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -18,10 +18,10 @@
 const DrivetrainConfig<double> &GetDrivetrainConfig() {
   // TODO(austin): Switch over to using the profile.
   static DrivetrainConfig<double> kDrivetrainConfig{
-      ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
-      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
-      ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
-      ::frc971::control_loops::drivetrain::IMUType::IMU_X,
+      ::frc971::control_loops::drivetrain::ShifterType::kHallEffectShifter,
+      ::frc971::control_loops::drivetrain::LoopType::kClosedLoop,
+      ::frc971::control_loops::drivetrain::GyroType::kSpartanGyro,
+      ::frc971::control_loops::drivetrain::ImuType::kImuX,
 
       drivetrain::MakeDrivetrainLoop,
       drivetrain::MakeVelocityDrivetrainLoop,
@@ -38,8 +38,8 @@
       constants::GetValues().low_gear_ratio,
       drivetrain::kJ,
       drivetrain::kMass,
-      constants::GetValues().left_drive.shifter_hall_effect,
-      constants::GetValues().right_drive.shifter_hall_effect,
+      constants::GetValues().left_drive.shifter_hall_effect(),
+      constants::GetValues().right_drive.shifter_hall_effect(),
       true /* default_high_gear */,
       0,
       0.25 /* wheel_non_linearity */,