commit bcce26ac1640be91a15d3c0c60369f353c51e332
author Austin Schuh <austin.linux@gmail.com> Mon Mar 26 23:41:24 2018 -0700
committer Brian Silverman <bsilver16384@gmail.com> Thu Apr 05 23:09:40 2018 -0400
tree 9564cfbd2adb87593d9ef622646372960cc237e9
parent d0180f18609785dcb224067e110b613baa9a97e8

Drive code works on Tantrum.

Need to write the spring code.  Drive now supports doubles...  What a
pain.

Change-Id: Id589acdc443dcd81242a21e3b0c26f81d6974dc8

aos/input/drivetrain_input.h

diff --git a/aos/input/drivetrain_input.h b/aos/input/drivetrain_input.h
index 86b0e10..e38320c 100644
--- a/aos/input/drivetrain_input.h
+++ b/aos/input/drivetrain_input.h
@@ -59,7 +59,8 @@
   // Constructs the appropriate DrivetrainInputReader.
   static std::unique_ptr<DrivetrainInputReader> Make(
       InputType type,
-      const ::frc971::control_loops::drivetrain::DrivetrainConfig &dt_config);
+      const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
+          &dt_config);
 
   // Processes new joystick data and publishes drivetrain goal messages.
   void HandleDrivetrain(const ::aos::input::driver_station::Data &data);