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

y2016/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 41e6eec..b469f77 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -18,8 +18,8 @@
 
 const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
 
-const DrivetrainConfig &GetDrivetrainConfig() {
-  static DrivetrainConfig kDrivetrainConfig{
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
+  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,

y2016/control_loops/drivetrain/drivetrain_base.h

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.h b/y2016/control_loops/drivetrain/drivetrain_base.h
index c67031c..4d5525a 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.h
+++ b/y2016/control_loops/drivetrain/drivetrain_base.h
@@ -7,8 +7,8 @@
 namespace control_loops {
 namespace drivetrain {
 
-const ::frc971::control_loops::drivetrain::DrivetrainConfig &
-GetDrivetrainConfig();
+const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
+    &GetDrivetrainConfig();
 
 }  // namespace drivetrain
 }  // namespace control_loops

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 0cff7fb..7b48512 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -483,7 +483,7 @@
 
   ::aos::common::actions::ActionQueue action_queue_;
 
-  const ::frc971::control_loops::drivetrain::DrivetrainConfig dt_config_;
+  const ::frc971::control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
 
   bool is_expanding_ = false;