commit 872723ceaa8f2879ebdf1b41ed0ccd5f0bbdfe7a
author Austin Schuh <austin.linux@gmail.com> Wed Dec 25 14:38:09 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Dec 28 13:10:22 2019 -0800
tree 1c7aba94dee4564dc2618be9be78c6073c57a5b7
parent a28cbc36df05d17b2c6504d26faf8e82ad231dfb

Switch to c++11 enums for flatbuffers

Change-Id: I99171464bf54efbb7eb322c556760dee86648f5e

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 42f0935..63caaab 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -257,7 +257,7 @@
 
   dt_openloop_.SetPosition(position, left_gear_, right_gear_);
 
-  ControllerType controller_type = ControllerType_POLYDRIVE;
+  ControllerType controller_type = ControllerType::POLYDRIVE;
   if (goal) {
     controller_type = goal->controller_type();
 
@@ -271,7 +271,7 @@
   dt_openloop_.Update(robot_state().voltage_battery());
 
   dt_closedloop_.Update(output != nullptr &&
-                        controller_type == ControllerType_MOTION_PROFILE);
+                        controller_type == ControllerType::MOTION_PROFILE);
 
   const Eigen::Matrix<double, 5, 1> trajectory_state =
       (Eigen::Matrix<double, 5, 1>() << localizer_->x(), localizer_->y(),
@@ -280,7 +280,7 @@
           .finished();
 
   dt_spline_.Update(
-      output != nullptr && controller_type == ControllerType_SPLINE_FOLLOWER,
+      output != nullptr && controller_type == ControllerType::SPLINE_FOLLOWER,
       trajectory_state);
 
   dt_line_follow_.Update(monotonic_now, trajectory_state);
@@ -288,16 +288,16 @@
   OutputT output_struct;
 
   switch (controller_type) {
-    case ControllerType_POLYDRIVE:
+    case ControllerType::POLYDRIVE:
       dt_openloop_.SetOutput(output != nullptr ? &output_struct : nullptr);
       break;
-    case ControllerType_MOTION_PROFILE:
+    case ControllerType::MOTION_PROFILE:
       dt_closedloop_.SetOutput(output != nullptr ? &output_struct : nullptr);
       break;
-    case ControllerType_SPLINE_FOLLOWER:
+    case ControllerType::SPLINE_FOLLOWER:
       dt_spline_.SetOutput(output != nullptr ? &output_struct : nullptr);
       break;
-    case ControllerType_LINE_FOLLOWER:
+    case ControllerType::LINE_FOLLOWER:
       if (!dt_line_follow_.SetOutput(output != nullptr ? &output_struct
                                                        : nullptr)) {
         // If the line follow drivetrain was unable to execute (generally due to