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

frc971/autonomous/base_autonomous_actor.cc

diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index 4493e3c..9b5e7f4 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -20,7 +20,7 @@
 
 BaseAutonomousActor::BaseAutonomousActor(
     AutonomousActionQueueGroup *s,
-    const control_loops::drivetrain::DrivetrainConfig dt_config)
+    const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
     : aos::common::actions::ActorBase<AutonomousActionQueueGroup>(s),
       dt_config_(dt_config),
       initial_drivetrain_({0.0, 0.0}) {}

frc971/autonomous/base_autonomous_actor.h

diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index 980be2c..c8f6398 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -17,7 +17,7 @@
  public:
   explicit BaseAutonomousActor(
       AutonomousActionQueueGroup *s,
-      const control_loops::drivetrain::DrivetrainConfig dt_config);
+      const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
 
  protected:
   void ResetDrivetrain();
@@ -53,7 +53,7 @@
   // Returns the distance left to go.
   double DriveDistanceLeft();
 
-  const control_loops::drivetrain::DrivetrainConfig dt_config_;
+  const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
 
   // Initial drivetrain positions.
   struct InitialDrivetrain {