commit ba93d9e4310351d9e7ebd428bb532bf35c0fb695
author Austin Schuh <austin.linux@gmail.com> Fri Mar 18 22:38:57 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 19 15:29:13 2016 -0700
tree 3e6ca974aaf7218c41776322ca18a321b748d900
parent 187991123a01093899c6bc4c277d67294134ce80

Fixed drivetrain gyro compensated vs encoder errors.

Change-Id: Ib456bbc35652a26a55dace54a995e757050699b4

y2016/actors/BUILD

diff --git a/y2016/actors/BUILD b/y2016/actors/BUILD
index 6c83721..0c0a564 100644
--- a/y2016/actors/BUILD
+++ b/y2016/actors/BUILD
@@ -120,6 +120,10 @@
     '//aos/common/util:phased_loop',
     '//aos/common/logging',
     '//aos/common/actions:action_lib',
+    '//frc971/control_loops/drivetrain:drivetrain_queue',
+    '//y2016/control_loops/superstructure:superstructure_queue',
+    '//y2016/control_loops/drivetrain:drivetrain_base',
+    '//y2016/queues:profile_params',
   ],
 )
 

y2016/actors/vision_align_actor.cc

diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index 60e0b7c..ad899be 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -26,6 +26,8 @@
 
 bool VisionAlignActor::RunAction(
     const actors::VisionAlignActionParams & /*params*/) {
+  const double robot_radius =
+      control_loops::drivetrain::GetDrivetrainConfig().robot_radius;
   ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
                                       ::aos::time::Time::InMS(5) / 2);
   while (true) {
@@ -48,8 +50,7 @@
     }
 
     const double side_distance_change =
-        ::y2016::vision::vision_status->horizontal_angle *
-        control_loops::GetDrivetrainConfig().robot_radius;
+        ::y2016::vision::vision_status->horizontal_angle * robot_radius;
     if (!::std::isfinite(side_distance_change)) {
       continue;
     }

y2016/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 0cdc447..2e64090 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -12,6 +12,7 @@
 
 namespace y2016 {
 namespace control_loops {
+namespace drivetrain {
 
 using ::frc971::constants::ShifterHallEffect;
 
@@ -40,5 +41,6 @@
   return kDrivetrainConfig;
 };
 
+}  // namespace drivetrain
 }  // namespace control_loops
 }  // namespace y2016

y2016/control_loops/drivetrain/drivetrain_base.h

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.h b/y2016/control_loops/drivetrain/drivetrain_base.h
index 816ed21..c67031c 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.h
+++ b/y2016/control_loops/drivetrain/drivetrain_base.h
@@ -3,13 +3,14 @@
 
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-
 namespace y2016 {
 namespace control_loops {
+namespace drivetrain {
 
-const DrivetrainConfig &GetDrivetrainConfig();
+const ::frc971::control_loops::drivetrain::DrivetrainConfig &
+GetDrivetrainConfig();
 
+}  // namespace drivetrain
 }  // namespace control_loops
 }  // namespace y2016
 

y2016/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 489a36e..deb7ae3 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -7,7 +7,8 @@
 
 int main() {
   ::aos::Init();
-  DrivetrainLoop drivetrain(::y2016::control_loops::GetDrivetrainConfig());
+  DrivetrainLoop drivetrain(
+      ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;