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/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index ed659c3..7fb859d 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -55,8 +55,11 @@
// True to activate quickturn.
bool quickturn;
- // True to have the closed-loop controller take over.
- bool control_loop_driving;
+ // Type of controller in charge of the drivetrain.
+ // 0: polydrive
+ // 1: motion profiled position drive (statespace)
+ // 2: spline follower.
+ uint8_t controller_type;
// Position goals for each drivetrain side (in meters) when the
// closed-loop controller is active.