Fliped default and put auto in high gear for y2014.
Change-Id: Iafb45ecac89a10eb9c05843626f20212488293d6
diff --git a/y2014/control_loops/drivetrain/drivetrain.cc b/y2014/control_loops/drivetrain/drivetrain.cc
index ecb8ed2..a326125 100644
--- a/y2014/control_loops/drivetrain/drivetrain.cc
+++ b/y2014/control_loops/drivetrain/drivetrain.cc
@@ -154,8 +154,8 @@
right_goal_(0.0),
raw_left_(0.0),
raw_right_(0.0) {
- // Low gear on both.
- loop_->set_controller_index(0);
+ // High gear on both.
+ loop_->set_controller_index(3);
}
void SetGoal(double left, double left_velocity, double right,
@@ -219,8 +219,8 @@
if (output) {
output->left_voltage = loop_->U(0, 0);
output->right_voltage = loop_->U(1, 0);
- output->left_high = false;
- output->right_high = false;
+ output->left_high = true;
+ output->right_high = true;
}
}