Log more debugging information in the drivetrain
This was helpful for understanding what the drivetrain was doing when
performing the Falcon 500 testing, and when run under replay allows us
to extract more detailed debugging information than we logged.
Change-Id: I457bc262dd39e006eb19d5e153fd2375b9656918
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 63caaab..51c6f03 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -322,6 +322,9 @@
dt_config_.AngularLinearToLeftRight(linear, angular);
const flatbuffers::Offset<CIMLogging> cim_logging_offset =
+ dt_openloop_.PopulateShiftingStatus(status->fbb());
+
+ const flatbuffers::Offset<PolyDriveLogging> poly_drive_logging_offset =
dt_openloop_.PopulateStatus(status->fbb());
flatbuffers::Offset<LineFollowLogging> line_follow_logging_offset =
@@ -359,6 +362,7 @@
builder.add_ground_angle(down_estimator_.X_hat(0) + dt_config_.down_offset);
builder.add_cim_logging(cim_logging_offset);
+ builder.add_poly_drive_logging(poly_drive_logging_offset);
builder.add_gear_logging(gear_logging_offset);
builder.add_line_follow_logging(line_follow_logging_offset);
builder.add_trajectory_logging(trajectory_logging_offset);