| commit | c5fceb86fa7afa77119e57ba4fc824574f3a2328 | [log] [tgz] |
|---|---|---|
| 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 [diff] [blame] |
Put a plant inside the loop and moved A,B,etc there. Change-Id: I9cb3a1a16bd0ccda0c9287514577b3c3861bc42f
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h index 20f1a49..570b87f 100644 --- a/frc971/control_loops/drivetrain/polydrivetrain.h +++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -17,7 +17,7 @@ PolyDrivetrain(const DrivetrainConfig &dt_config, StateFeedbackLoop<7, 2, 3> *kf); - int controller_index() const { return loop_->controller_index(); } + int controller_index() const { return loop_->index(); } // Computes the speed of the motor given the hall effect position and the // speed of the robot.