commit 8bfe229c13e50231ec6037f47509bd6c9565b1a4
author Austin Schuh <austin.linux@gmail.com> Fri Dec 21 11:09:24 2018 +1100
committer Austin Schuh <austin.linux@gmail.com> Fri Dec 21 15:43:11 2018 +1100
tree 04625784fb19b4b9ae1f1e5df5d11b0976c39427
parent 17df455342f696fba221724ca53ffd1a6f274119

Support LQR controllers of various sizes

Previously, we required there to be 2 inputs and 4 states.  Lets fix
that.

Change-Id: I9a69c365a3d2bb4eb3e8b85b619ac013197cd667

frc971/control_loops/dlqr.h

diff --git a/frc971/control_loops/dlqr.h b/frc971/control_loops/dlqr.h
index 98dccb2..d169753 100644
--- a/frc971/control_loops/dlqr.h
+++ b/frc971/control_loops/dlqr.h
@@ -57,8 +57,8 @@
   // Stable eigenvalues first in the sort order
   char SORT = 'S';
 
-  long N = 4;
-  long M = 2;
+  long N = kN;
+  long M = kM;
   // Not needed since FACT = N
   long P = 0;