Build hybrid velocity loop for each drivetrain
This provides a way to get to the continuous time drivetrain model from
C++ without doing crazy codegen for all gears.
Change-Id: Iadd7388b74628a94a74ec19efb972fa01efe70c9
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py
index 701308e..7ddd630 100755
--- a/y2017/control_loops/python/polydrivetrain.py
+++ b/y2017/control_loops/python/polydrivetrain.py
@@ -19,10 +19,10 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2017',
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2017',
drivetrain.kDrivetrain)
if __name__ == '__main__':