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
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();
}