commit adf2cde48445f7947b98c1995ec44ec2ac39a1e9
author Austin Schuh <austin@peloton-tech.com> Sun Nov 08 20:35:16 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Nov 08 21:24:25 2015 -0800
tree 0875ab31dd44209fb3a0e9bbe6c02d26f11cbeb4
parent 0e997732d025d9b2d471b8e3989122bd62020199

Switched to 5ms cycles on the control loops.

Change-Id: I1aae3b30a9c422f1920ccb1c15e035ae847f85a9

y2014/actors/drivetrain_actor.h

diff --git a/y2014/actors/drivetrain_actor.h b/y2014/actors/drivetrain_actor.h
index 583121b..888b2c0 100644
--- a/y2014/actors/drivetrain_actor.h
+++ b/y2014/actors/drivetrain_actor.h
@@ -5,6 +5,7 @@
 
 #include "aos/common/actions/actor.h"
 #include "aos/common/actions/actions.h"
+#include "frc971/control_loops/state_feedback_loop.h"
 
 #include "y2014/actors/drivetrain_action.q.h"
 
@@ -17,6 +18,9 @@
   explicit DrivetrainActor(DrivetrainActionQueueGroup* s);
 
   bool RunAction(const actors::DrivetrainActionParams &params) override;
+
+ private:
+  StateFeedbackLoop<4, 2, 2> loop_;
 };
 
 typedef ::aos::common::actions::TypedAction<DrivetrainActionQueueGroup>