commit 73b6e3bfaad0a1b7b5532075df71b69b03f098e5
author Austin Schuh <austin.linux@gmail.com> Mon May 27 16:37:15 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:45:44 2019 -0700
tree 39d43ab37d64c06d28363bada9800a57cd29d404
parent a250b2d60e7e4b41c8a8e23b3a792d0f5461eea9

Convert imu_values to event loops.

Change-Id: Ia31a022550ef076526e2198e1dbf60570caf6a16

frc971/control_loops/drivetrain/drivetrain.h

diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index f07d840..39d7054 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -9,12 +9,13 @@
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/drivetrain/gear.h"
-#include "frc971/control_loops/drivetrain/localizer.h"
-#include "frc971/control_loops/drivetrain/polydrivetrain.h"
-#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
 #include "frc971/control_loops/drivetrain/line_follow_drivetrain.h"
+#include "frc971/control_loops/drivetrain/localizer.h"
 #include "frc971/control_loops/drivetrain/localizer.q.h"
+#include "frc971/control_loops/drivetrain/polydrivetrain.h"
 #include "frc971/control_loops/drivetrain/splinedrivetrain.h"
+#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/wpilib/imu.q.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -47,6 +48,7 @@
   const DrivetrainConfig<double> dt_config_;
 
   ::aos::Fetcher<LocalizerControl> localizer_control_fetcher_;
+  ::aos::Fetcher<::frc971::IMUValues> imu_values_fetcher_;
   LocalizerInterface *localizer_;
 
   StateFeedbackLoop<7, 2, 4> kf_;