commit bb735b71c8a83e6072f0eaf0ccaaf213eb236cdc
author Austin Schuh <austin.linux@gmail.com> Thu Jan 03 12:58:41 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Jan 04 11:10:34 2019 -0800
tree f9e247bccdeb12155079190ff7512ebef1e8fb31
parent 662e3c7cf69c2fa38200f79c26f2794a95f8d93b

Convert dt to a chrono::duration in drivetrain config

Change-Id: I8d44e181db3646330fa69ddd809cfff21fe236aa

frc971/control_loops/drivetrain/polydrivetrain.h

diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index c09c527..64b1aff 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -372,11 +372,14 @@
     current_left_velocity_ = kZero;
     current_right_velocity_ = kZero;
   } else {
+    const Scalar dt =
+        ::std::chrono::duration_cast<::std::chrono::duration<Scalar>>(
+            dt_config_.dt)
+            .count();
     current_left_velocity_ =
-        (position_.left_encoder - last_position_.left_encoder) / dt_config_.dt;
+        (position_.left_encoder - last_position_.left_encoder) / dt;
     current_right_velocity_ =
-        (position_.right_encoder - last_position_.right_encoder) /
-        dt_config_.dt;
+        (position_.right_encoder - last_position_.right_encoder) / dt;
     left_motor_speed_ =
         MotorSpeed(dt_config_.left_drive, position_.left_shifter_position,
                    current_left_velocity_, left_gear_);