Drive code works on Tantrum.
Need to write the spring code. Drive now supports doubles... What a
pain.
Change-Id: Id589acdc443dcd81242a21e3b0c26f81d6974dc8
diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 86ec084..11dbd80 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -164,10 +164,10 @@
const Eigen::Matrix<double, 2, 1> intersection = standard.inverse() * W;
bool is_inside_h;
- const auto adjusted_pos_error_h =
- DoCoerceGoal(hv_pos_poly, LH, wh, position_error, &is_inside_h);
+ const auto adjusted_pos_error_h = DoCoerceGoal<double>(
+ hv_pos_poly, LH, wh, position_error, &is_inside_h);
const auto adjusted_pos_error_45 =
- DoCoerceGoal(hv_pos_poly, L45, w45, intersection, nullptr);
+ DoCoerceGoal<double>(hv_pos_poly, L45, w45, intersection, nullptr);
if (pos_poly.IsInside(intersection)) {
adjusted_pos_error = adjusted_pos_error_h;
} else {
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 2083a24..c3357aa 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -12,9 +12,9 @@
namespace y2014 {
namespace control_loops {
-const DrivetrainConfig &GetDrivetrainConfig() {
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
// TODO(austin): Switch over to using the profile.
- static DrivetrainConfig kDrivetrainConfig{
+ static DrivetrainConfig<double> kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.h b/y2014/control_loops/drivetrain/drivetrain_base.h
index 3a9d70e..a47ff5c 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.h
+++ b/y2014/control_loops/drivetrain/drivetrain_base.h
@@ -3,12 +3,11 @@
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-
namespace y2014 {
namespace control_loops {
-const DrivetrainConfig &GetDrivetrainConfig();
+const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
+ &GetDrivetrainConfig();
} // namespace control_loops
} // namespace y2014