commit aab05dc84f5c106b92b4c44a0322beb1b21b0b70
author Austin Schuh <austin.linux@gmail.com> Sat Feb 04 22:13:38 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 04 22:13:38 2017 -0800
tree e55b4844a4632315d1f9cc08bee8ca911f9a76fc
parent 8f796ffbc7ace42bdcc2e7f5fa0aac8203b3ed25

Disabled shifter in the drivetrain.

Change-Id: Ifb31ab3f08210e01167a138b23f637ea96eb33ae

y2017/control_loops/drivetrain/drivetrain_base.cc

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;