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 {