Convert dt to a chrono::duration in drivetrain config
Change-Id: I8d44e181db3646330fa69ddd809cfff21fe236aa
diff --git a/motors/simple_receiver.cc b/motors/simple_receiver.cc
index 36d489f..91e2229 100644
--- a/motors/simple_receiver.cc
+++ b/motors/simple_receiver.cc
@@ -3,6 +3,7 @@
#include <inttypes.h>
#include <stdio.h>
#include <atomic>
+#include <chrono>
#include <cmath>
#include "frc971/control_loops/drivetrain/polydrivetrain.h"
@@ -28,6 +29,8 @@
using ::frc971::control_loops::DrivetrainQueue_Output;
using ::motors::seems_reasonable::Spring;
+namespace chrono = ::std::chrono;
+
struct SimpleAdcReadings {
uint16_t sin, cos;
};
@@ -67,7 +70,9 @@
::motors::seems_reasonable::MakeVelocityDrivetrainLoop,
::std::function<StateFeedbackLoop<7, 2, 4, float>()>(),
- ::motors::seems_reasonable::kDt, ::motors::seems_reasonable::kRobotRadius,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<float>(::motors::seems_reasonable::kDt)),
+ ::motors::seems_reasonable::kRobotRadius,
::motors::seems_reasonable::kWheelRadius, ::motors::seems_reasonable::kV,
::motors::seems_reasonable::kHighGearRatio,