commit d0180f18609785dcb224067e110b613baa9a97e8
author Diana Burgess <dkvandenberg2@gmail.com> Wed Mar 21 21:24:17 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 04 20:03:39 2018 -0700
tree 3755291f688f7faaaea96e5c33d3f1ea2ab3462d
parent 005d3cb3c3e7d7bac3a662047e90e4fed2001c90

Tune drivetrain.

Add force knob, efficiency, IMU

Change-Id: I4fd12665490d4e535d5890c2edf8ae611938333d

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 7013c52..41e6eec 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -23,6 +23,7 @@
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+      ::frc971::control_loops::drivetrain::IMUType::IMU_X,
 
       ::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
       ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,

y2016/control_loops/python/drivetrain.py

diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index e8b2c73..7417ffb 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -20,6 +20,7 @@
                                           q_pos_high = 0.14,
                                           q_vel_low = 1.0,
                                           q_vel_high = 0.95,
+                                          has_imu = False,
                                           dt = 0.005,
                                           controller_poles = [0.67, 0.67])