commit 9cf68c8848b6709ab128e16a2f00346b36a518e7
author Daniel Petti <djpetti@me.com> Sat Feb 14 14:57:17 2015 -0800
committer Daniel Petti <djpetti@me.com> Mon Feb 16 18:23:51 2015 -0800
tree 53101849f96c7ee2d8bffd280b97f6fa8f07ee1e
parent 9e37c3288ea51563b46f0945a4494e070fdd05c6

Add claw control loop.

It's based pretty heavily on the fridge loop. Currently, all the
tests pass.

Change-Id: Ieb386dfa5c3fe2d34e2d191fa39a44dc77ee6ab6

frc971/control_loops/fridge/fridge.cc

diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index dae8374..b0ee642 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -15,8 +15,6 @@
 namespace frc971 {
 namespace control_loops {
 
-constexpr double Fridge::dt;
-
 namespace {
 constexpr double kZeroingVoltage = 4.0;
 constexpr double kElevatorZeroingVelocity = 0.10;
@@ -321,7 +319,8 @@
         LOG(DEBUG, "Zeroed the elevator!\n");
       } else if (!disable) {
         elevator_goal_velocity = elevator_zeroing_velocity();
-        elevator_goal_ += elevator_goal_velocity * dt;
+        elevator_goal_ += elevator_goal_velocity *
+            ::aos::controls::kLoopFrequency.ToSeconds();
       }
       break;
 
@@ -337,7 +336,8 @@
         LOG(DEBUG, "Zeroed the arm!\n");
       } else if (!disable) {
         arm_goal_velocity = arm_zeroing_velocity();
-        arm_goal_ += arm_goal_velocity * dt;
+        arm_goal_ += arm_goal_velocity *
+            ::aos::controls::kLoopFrequency.ToSeconds();
       }
       break;