Convert drivetrain mode from a bool to a number
This lets us support more than 2 drivetrain controller types in
perparation for splines.
Change-Id: I943d6073e6c5facae7223cc6111551a57b039a04
diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index df558ab..04ee334 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -29,7 +29,7 @@
LOG(INFO, "resetting the drivetrain\n");
max_drivetrain_voltage_ = 12.0;
drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
+ .controller_type(0)
.highgear(true)
.wheel(0.0)
.throttle(0.0)
@@ -58,7 +58,7 @@
}
auto drivetrain_message = drivetrain_queue.goal.MakeMessage();
- drivetrain_message->control_loop_driving = true;
+ drivetrain_message->controller_type = 1;
drivetrain_message->highgear = true;
drivetrain_message->wheel = 0.0;
drivetrain_message->throttle = 0.0;