commit 699f0cbb1abd562595f3bb4cc8ccbc20c9c97910
author Brian Silverman <brians> Thu Feb 05 19:45:01 2015 -0500
committer Brian Silverman <brians> Sun Feb 08 18:23:58 2015 -0500
tree 8323b43fb356b64f079e78e83a31650a5d6a644a
parent a2e3570010fe989d1cde076107866daae7f05abb

update the information about enabled vs not

With the roboRIO, we get different information about whether motors are
enabled (and some about sensors too), so the system for propagating it
around to everything needs to change.

Change-Id: I7e5f9591eeac1fdfe57b271333c3827431fbef01

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index c88169a..395f8b9 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -630,7 +630,7 @@
       loop_->mutable_U(1, 0) = ::aos::Clip(
           (R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
           -12.0, 12.0);
-      loop_->mutable_U() *= 12.0 / position_.battery_voltage;
+      loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
 #endif
     }
   }

frc971/control_loops/drivetrain/drivetrain.q

diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index ea1324d..5f34e92 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -39,7 +39,6 @@
     double right_encoder;
     //double left_shifter_position;
     //double right_shifter_position;
-    double battery_voltage;
   };
 
   message Output {