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
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 2a93285..f67662c 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -14,6 +14,8 @@
gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+#TODO(constants): All of the constants need to be updated for 2016.
+
class CIM(control_loop.ControlLoop):
def __init__(self):
super(CIM, self).__init__("CIM")
@@ -309,7 +311,7 @@
if len(argv) != 5:
print "Expected .h file name and .cc file name"
else:
- namespaces = ['y2014', 'control_loops', 'drivetrain']
+ namespaces = ['y2016', 'control_loops', 'drivetrain']
dog_loop_writer = control_loop.ControlLoopWriter(
"Drivetrain", [drivetrain_low_low, drivetrain_low_high,
drivetrain_high_low, drivetrain_high_high],