fixed stuff to actually run on the bbb
diff --git a/frc971/atom_code/atom_code.gyp b/frc971/atom_code/atom_code.gyp
index 4803265..7bf884e 100644
--- a/frc971/atom_code/atom_code.gyp
+++ b/frc971/atom_code/atom_code.gyp
@@ -24,7 +24,7 @@
'../output/output.gyp:CameraServer',
#'camera/camera.gyp:frc971',
'../../gyro_board/src/libusb-driver/libusb-driver.gyp:get',
- '../input/input.gyp:gyro_sensor_receiver',
+ #'../input/input.gyp:gyro_sensor_receiver',
'<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:*',
],
'copies': [
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 71af487..bcd62f9 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -556,6 +556,18 @@
Drivetrain::Position position_;
int counter_;
};
+constexpr double PolyDrivetrain::kStallTorque;
+constexpr double PolyDrivetrain::kStallCurrent;
+constexpr double PolyDrivetrain::kFreeSpeed;
+constexpr double PolyDrivetrain::kFreeCurrent;
+constexpr double PolyDrivetrain::J;
+constexpr double PolyDrivetrain::m;
+constexpr double PolyDrivetrain::rb;
+constexpr double PolyDrivetrain::kWheelRadius;
+constexpr double PolyDrivetrain::kR;
+constexpr double PolyDrivetrain::Kv;
+constexpr double PolyDrivetrain::Kt;
+
class DrivetrainMotorsOL {