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/control_loops/drivetrain/drivetrain.h

diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index fd3f076..83e6c52 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -22,7 +22,7 @@
   // Constructs a control loop which can take a Drivetrain or defaults to the
   // drivetrain at frc971::control_loops::drivetrain
   explicit DrivetrainLoop(
-      const DrivetrainConfig &dt_config,
+      const DrivetrainConfig<double> &dt_config,
       ::frc971::control_loops::DrivetrainQueue *my_drivetrain =
           &::frc971::control_loops::drivetrain_queue);
 
@@ -40,10 +40,10 @@
 
   double last_gyro_rate_ = 0.0;
 
-  const DrivetrainConfig dt_config_;
+  const DrivetrainConfig<double> dt_config_;
 
   StateFeedbackLoop<7, 2, 4> kf_;
-  PolyDrivetrain dt_openloop_;
+  PolyDrivetrain<double> dt_openloop_;
   DrivetrainMotorsSS dt_closedloop_;
   ::aos::monotonic_clock::time_point last_gyro_time_ =
       ::aos::monotonic_clock::min_time;