commit c5fceb86fa7afa77119e57ba4fc824574f3a2328
author Austin Schuh <austin.linux@gmail.com> Sat Feb 25 16:24:12 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 04 17:55:14 2017 -0800
tree 2f292592e5e88b5ca74f84ddebfe7cf7ec6ef1e1
parent 71b5f13de3846bf9363ba238e2e7716242481003

Put a plant inside the loop and moved A,B,etc there.

Change-Id: I9cb3a1a16bd0ccda0c9287514577b3c3861bc42f

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 6a2822b..2e680a3 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -112,14 +112,14 @@
       break;
   }
 
-  kf_.set_controller_index(ControllerIndexFromGears());
+  kf_.set_index(ControllerIndexFromGears());
   {
     GearLogging gear_logging;
     gear_logging.left_state = static_cast<uint32_t>(left_gear_);
     gear_logging.right_state = static_cast<uint32_t>(right_gear_);
     gear_logging.left_loop_high = MaybeHigh(left_gear_);
     gear_logging.right_loop_high = MaybeHigh(right_gear_);
-    gear_logging.controller_index = kf_.controller_index();
+    gear_logging.controller_index = kf_.index();
     LOG_STRUCT(DEBUG, "state", gear_logging);
   }
   const bool is_latest_imu_values = ::frc971::imu_values.FetchLatest();