commit d91c0d26ce7f898be16d32782f01718ca0369d4d
author Austin Schuh <austin.linux@gmail.com> Sat Oct 15 21:24:28 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 26 12:55:43 2016 -0800
tree ea80dfed9f759f47d707ce4a7d9995a1e34655af
parent d94624e1522a7d9f6a866f2fd58d348563c527b3

Moved AngularLinearToLeftRight to DrivetrainConfig

This makes it so the battlebot doesn't need SSDrivetrain.  The
conversion functions also fit better with the drivetrain config
object.

Change-Id: Ife4e0ac0c0ebf2f15f3ce1012385579d9ca8eaa8

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 651976e..7bbba74 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -205,14 +205,14 @@
     status->robot_speed = (kf_.X_hat(1, 0) + kf_.X_hat(3, 0)) / 2.0;
 
     Eigen::Matrix<double, 2, 1> linear =
-        dt_closedloop_.LeftRightToLinear(kf_.X_hat());
+        dt_config_.LeftRightToLinear(kf_.X_hat());
     Eigen::Matrix<double, 2, 1> angular =
-        dt_closedloop_.LeftRightToAngular(kf_.X_hat());
+        dt_config_.LeftRightToAngular(kf_.X_hat());
 
     angular(0, 0) = integrated_kf_heading_;
 
     Eigen::Matrix<double, 4, 1> gyro_left_right =
-        dt_closedloop_.AngularLinearToLeftRight(linear, angular);
+        dt_config_.AngularLinearToLeftRight(linear, angular);
 
     status->estimated_left_position = gyro_left_right(0, 0);
     status->estimated_right_position = gyro_left_right(2, 0);