commit d8f403a39ac1ff40949fd38f0aa0322e3a75099f
author Brian Silverman <brians> Sat Dec 13 19:12:04 2014 -0500
committer Brian Silverman <brians> Thu Jan 01 20:44:06 2015 -0800
tree 8b7b7b6e295210b2c2366570dd01575022f13014
parent fb4211c3b9355af3bb319d2d6dd72b4ab00dc8e1

run control loops and write their output on new sensor values

This also includes sending solenoid values from their own thread at 50Hz
(formerly I613f95a6efb5efe428029e4825ba6caeb34ea326).

Change-Id: I3d3021cdbbf2ddf895e5ceebd4db299b4743e124

frc971/control_loops/claw/claw.cc

diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 32fe567..10ea25f 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -333,8 +333,7 @@
 }
 
 ClawMotor::ClawMotor(control_loops::ClawGroup *my_claw)
-    : aos::controls::ControlLoop<control_loops::ClawGroup, true, true,
-                                      false>(my_claw),
+    : aos::controls::ControlLoop<control_loops::ClawGroup, false>(my_claw),
       has_top_claw_goal_(false),
       top_claw_goal_(0.0),
       top_claw_(this),

frc971/control_loops/claw/claw.h

diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 12f7264..175657c 100644
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -185,7 +185,7 @@
 };
 
 class ClawMotor : public aos::controls::ControlLoop<
-    control_loops::ClawGroup, true, true, false> {
+    control_loops::ClawGroup, false> {
  public:
   explicit ClawMotor(control_loops::ClawGroup *my_claw =
                          &control_loops::claw_queue_group);

frc971/control_loops/drivetrain/drivetrain.h

diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index cba0e9a..f1b0453 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -13,14 +13,13 @@
 namespace control_loops {
 
 class DrivetrainLoop
-    : public aos::controls::ControlLoop<control_loops::Drivetrain, true, false> {
+    : public aos::controls::ControlLoop<control_loops::Drivetrain> {
  public:
   // Constructs a control loop which can take a Drivetrain or defaults to the
   // drivetrain at frc971::control_loops::drivetrain
   explicit DrivetrainLoop(
       control_loops::Drivetrain *my_drivetrain = &control_loops::drivetrain)
-      : aos::controls::ControlLoop<control_loops::Drivetrain, true, false>(
-          my_drivetrain) {
+      : aos::controls::ControlLoop<control_loops::Drivetrain>(my_drivetrain) {
     ::aos::controls::HPolytope<0>::Init();
   }