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

y2014/control_loops/shooter/shooter.h

diff --git a/y2014/control_loops/shooter/shooter.h b/y2014/control_loops/shooter/shooter.h
index fb991e3..f2ddbc8 100644
--- a/y2014/control_loops/shooter/shooter.h
+++ b/y2014/control_loops/shooter/shooter.h
@@ -83,8 +83,9 @@
         desired_velocity);
 
     mutable_R() << desired_position - kPositionOffset, desired_velocity,
-        (-A(1, 0) / A(1, 2) * (desired_position - kPositionOffset) -
-         A(1, 1) / A(1, 2) * desired_velocity);
+        (-plant().A(1, 0) / plant().A(1, 2) *
+             (desired_position - kPositionOffset) -
+         plant().A(1, 1) / plant().A(1, 2) * desired_velocity);
   }
 
   double position() const { return X_hat(0, 0) - offset_ + kPositionOffset; }