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/ssdrivetrain.h

diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index 9a9c0d8..5e261e9 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -18,7 +18,7 @@
 
 class DrivetrainMotorsSS {
  public:
-  DrivetrainMotorsSS(const DrivetrainConfig &dt_config,
+  DrivetrainMotorsSS(const DrivetrainConfig<double> &dt_config,
                      StateFeedbackLoop<7, 2, 4> *kf,
                      double *integrated_kf_heading);
 
@@ -42,7 +42,7 @@
   void PolyCapU(Eigen::Matrix<double, 2, 1> *U);
   void ScaleCapU(Eigen::Matrix<double, 2, 1> *U);
 
-  const DrivetrainConfig dt_config_;
+  const DrivetrainConfig<double> dt_config_;
   StateFeedbackLoop<7, 2, 4> *kf_;
   Eigen::Matrix<double, 7, 1> unprofiled_goal_;