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

y2017_bot3/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
index e450315..40e18c8 100644
--- a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -22,6 +22,7 @@
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+      ::frc971::control_loops::drivetrain::IMUType::IMU_X,
 
       ::y2017_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
       ::y2017_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,

y2017_bot3/control_loops/python/drivetrain.py

diff --git a/y2017_bot3/control_loops/python/drivetrain.py b/y2017_bot3/control_loops/python/drivetrain.py
index 6b5ea65..0272232 100755
--- a/y2017_bot3/control_loops/python/drivetrain.py
+++ b/y2017_bot3/control_loops/python/drivetrain.py
@@ -20,7 +20,8 @@
                                           q_pos_low = 0.12,
                                           q_pos_high = 0.14,
                                           q_vel_low = 1.0,
-                                          q_vel_high = 0.95)
+                                          q_vel_high = 0.95,
+                                          has_imu = False)
 
 def main(argv):
   argv = FLAGS(argv)