Converted state feedback controller and plant over to being gain scheduled, and used them in the indexer. Also wrote the python to make it easy to design gain scheduled controllers.
diff --git a/frc971/control_loops/python/transfer.py b/frc971/control_loops/python/transfer.py
index 2ec7926..d7818a3 100755
--- a/frc971/control_loops/python/transfer.py
+++ b/frc971/control_loops/python/transfer.py
@@ -84,8 +84,11 @@
if len(argv) != 3:
print "Expected .cc file name and .h file name"
else:
- transfer.DumpHeaderFile(argv[1])
- transfer.DumpCppFile(argv[2], argv[1])
+ loop_writer = control_loop.ControlLoopWriter("Transfer", [transfer])
+ if argv[1][-3:] == '.cc':
+ loop_writer.Write(argv[2], argv[1])
+ else:
+ loop_writer.Write(argv[1], argv[2])
if __name__ == '__main__':
sys.exit(main(sys.argv))