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

y2018/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index ed40082..78e4b84 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -1,14 +1,17 @@
 #include "y2018/control_loops/drivetrain/drivetrain_base.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
 
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
 #include "y2018/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainConfig;
 
+namespace chrono = ::std::chrono;
+
 namespace y2018 {
 namespace control_loops {
 namespace drivetrain {
@@ -28,8 +31,9 @@
       ::y2018::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
       ::y2018::control_loops::drivetrain::MakeKFDrivetrainLoop,
 
-      drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
-      drivetrain::kV,
+      chrono::duration_cast<chrono::nanoseconds>(
+          chrono::duration<double>(drivetrain::kDt)),
+      drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
 
       drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
       kThreeStateDriveShifter, kThreeStateDriveShifter,