commit 6c6a0a9b0dd092bb3fe06742b6b382997bdeba27
author Comran Morshed <comranmorsh@gmail.com> Sun Jan 17 12:45:16 2016 +0000
committer Comran Morshed <comranmorsh@gmail.com> Fri Jan 29 20:12:42 2016 +0000
tree 3ac8f2b8c8cdb809e3c2aa8faf6acc6bddde7012
parent 9a9948cf030986c55b5a48254039f2c0c8961421

Convert y2014 to y2016, and get the drivetrain running.

I made a y2016 folder based on what was in y2014. Right now, it only has
a drivetrain control loop, and all the constants are not up to date with
the current CAD design. Changes from y2014 can be viewed by comparing to
the BASE commit, since I put this commit on top of a dummy y2014 folder
renamed y2016. Hope this helps.

Change-Id: I3f1d1d1a14a99ac441c51b2a67cbade7cbd708ab

y2016/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index b4ef447..2e5138c 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -1,36 +1,46 @@
-#include "y2014/control_loops/drivetrain/drivetrain_base.h"
+#include "y2016/control_loops/drivetrain/drivetrain_base.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
-#include "y2014/constants.h"
+#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2016/constants.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainConfig;
 
-namespace y2014 {
+namespace y2016 {
 namespace control_loops {
 
 const DrivetrainConfig &GetDrivetrainConfig() {
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
 
-      ::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
-      ::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
-      ::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop,
+      ::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
+      ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+      ::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
 
-      drivetrain::kDt, drivetrain::kStallTorque, drivetrain::kStallCurrent,
-      drivetrain::kFreeSpeedRPM, drivetrain::kFreeCurrent, drivetrain::kJ,
-      drivetrain::kMass, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
-      drivetrain::kR, drivetrain::kV, drivetrain::kT,
+      drivetrain::kDt,
+      drivetrain::kStallTorque,
+      drivetrain::kStallCurrent,
+      drivetrain::kFreeSpeedRPM,
+      drivetrain::kFreeCurrent,
+      drivetrain::kJ,
+      drivetrain::kMass,
+      drivetrain::kRobotRadius,
+      drivetrain::kWheelRadius,
+      drivetrain::kR,
+      drivetrain::kV,
+      drivetrain::kT,
 
-      constants::GetValues().turn_width, constants::GetValues().high_gear_ratio,
+      constants::GetValues().turn_width,
+      constants::GetValues().high_gear_ratio,
       constants::GetValues().low_gear_ratio,
-      constants::GetValues().left_drive, constants::GetValues().right_drive};
+      constants::GetValues().left_drive,
+      constants::GetValues().right_drive};
 
   return kDrivetrainConfig;
 };
 
 }  // namespace control_loops
-}  // namespace y2014
+}  // namespace y2016