commit 8aa37cb7138007272e6b537bd821074e84f25605
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 01 10:27:58 2020 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Mar 05 08:27:33 2020 -0800
tree e8953f368a92e2b713ec932f9acb32cb7e3e8fef
parent b7fe49e6913fd45b885c03a310eded898e8da9e1

Use 2020 drivetrain in spline GUI

Change-Id: I91af8eb4b77a920927fc3cc56ff389930b86e7b9

frc971/control_loops/drivetrain/BUILD

diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 30abc87..d223d13 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -562,7 +562,7 @@
         ":trajectory",
         "//aos/logging:implementations",
         "//aos/network:team_number",
-        "//y2019/control_loops/drivetrain:drivetrain_base",
+        "//y2020/control_loops/drivetrain:drivetrain_base",
         "@org_tuxfamily_eigen//:eigen",
     ],
 )

frc971/control_loops/drivetrain/libspline.cc

diff --git a/frc971/control_loops/drivetrain/libspline.cc b/frc971/control_loops/drivetrain/libspline.cc
index 5ad175e..a9820f7 100644
--- a/frc971/control_loops/drivetrain/libspline.cc
+++ b/frc971/control_loops/drivetrain/libspline.cc
@@ -8,7 +8,7 @@
 #include "frc971/control_loops/drivetrain/distance_spline.h"
 #include "frc971/control_loops/drivetrain/spline.h"
 #include "frc971/control_loops/drivetrain/trajectory.h"
-#include "y2019/control_loops/drivetrain/drivetrain_base.h"
+#include "y2020/control_loops/drivetrain/drivetrain_base.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -124,7 +124,7 @@
   Trajectory *NewTrajectory(DistanceSpline *spline, double vmax,
                             int num_distance) {
     return new Trajectory(
-        spline, ::y2019::control_loops::drivetrain::GetDrivetrainConfig(), vmax,
+        spline, ::y2020::control_loops::drivetrain::GetDrivetrainConfig(), vmax,
         num_distance);
   }
 

frc971/control_loops/python/lib_spline_test.py

diff --git a/frc971/control_loops/python/lib_spline_test.py b/frc971/control_loops/python/lib_spline_test.py
index d544cbb..b4efe72 100644
--- a/frc971/control_loops/python/lib_spline_test.py
+++ b/frc971/control_loops/python/lib_spline_test.py
@@ -32,7 +32,7 @@
         trajectory = Trajectory(dSpline)
         trajectory.Plan()
         plan = trajectory.GetPlanXVA(5.05*1e-3)
-        self.assertEqual(plan.shape, (3, 617))
+        self.assertEqual(plan.shape, (3, 624))
 
     def testLimits(self):
         """ A plan with a lower limit should take longer. """
@@ -44,7 +44,7 @@
         trajectory.LimitVelocity(0, trajectory.Length(), 3)
         trajectory.Plan()
         plan = trajectory.GetPlanXVA(5.05*1e-3)
-        self.assertEqual(plan.shape, (3, 650))
+        self.assertEqual(plan.shape, (3, 656))
 
 
 if __name__ == '__main__':