Make drivetrain_test_lib handle IMU transforms
This also updates the 2020 imu transform to better match the 2020
drivetrain. I haven't actually checked the yaw orientation of the IMU
though.
Change-Id: Ib036705269dfc467a60714c456751a6cfca8a67e
diff --git a/y2020/control_loops/drivetrain/drivetrain_base.cc b/y2020/control_loops/drivetrain/drivetrain_base.cc
index 62679bc..b919902 100644
--- a/y2020/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_base.cc
@@ -25,8 +25,8 @@
static DrivetrainConfig<double> kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
- ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
- ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
+ ::frc971::control_loops::drivetrain::GyroType::IMU_X_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_Z,
drivetrain::MakeDrivetrainLoop,
drivetrain::MakeVelocityDrivetrainLoop,
@@ -53,8 +53,8 @@
1.2 /* quickturn_wheel_multiplier */,
1.2 /* wheel_multiplier */,
true /*pistol_grip_shift_enables_line_follow*/,
- (Eigen::Matrix<double, 3, 3>() << 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
- 1.0)
+ (Eigen::Matrix<double, 3, 3>() << 0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0,
+ 0.0)
.finished() /*imu_transform*/,
};