Disabled shifter in the drivetrain.
Change-Id: Ifb31ab3f08210e01167a138b23f637ea96eb33ae
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index 03e180b..0eb506e 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -20,7 +20,7 @@
const DrivetrainConfig &GetDrivetrainConfig() {
static DrivetrainConfig kDrivetrainConfig{
- ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
+ ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::y2017::control_loops::drivetrain::MakeDrivetrainLoop,
@@ -38,7 +38,7 @@
kThreeStateDriveShifter,
true,
constants::GetValues().down_error,
- 0.25,
+ 0.4,
1.0};
return kDrivetrainConfig;
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.h b/y2017/control_loops/drivetrain/drivetrain_base.h
index 6ef519b..4dea38b 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.h
+++ b/y2017/control_loops/drivetrain/drivetrain_base.h
@@ -4,9 +4,13 @@
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
namespace y2017 {
+namespace constants {
+// The ratio from the encoder shaft to the drivetrain wheels.
+static constexpr double kDrivetrainEncoderRatio = 1.0;
+
+} // namespace constants
namespace control_loops {
namespace drivetrain {
-
const ::frc971::control_loops::drivetrain::DrivetrainConfig &
GetDrivetrainConfig();