commit e39cbcfd448414ac015f61fc7c5fe8fbd7dfce21
author James Kuszmaul <jabukuszmaul@gmail.com> Wed Feb 27 20:48:34 2019 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 02 21:15:50 2019 -0800
tree 4424b699dde5397de02f13314970b0ad832cc6ba
parent 409993acf65b43f8960a4ac01d7923edce872fcc

Add basic line-following drivetrain

Works by drawing a Nth degree polynomial to guide us to the target and
guiding a lateral controller to follow it given a speed provided by the
driver.

Change-Id: I94fd31666769ca398b66f04665f39e01cee00627

frc971/control_loops/drivetrain/drivetrain.h

diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 1aa3e13..35d6084 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -12,6 +12,7 @@
 #include "frc971/control_loops/drivetrain/localizer.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain.h"
 #include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/control_loops/drivetrain/line_follow_drivetrain.h"
 #include "frc971/control_loops/drivetrain/splinedrivetrain.h"
 
 namespace frc971 {
@@ -50,6 +51,7 @@
   PolyDrivetrain<double> dt_openloop_;
   DrivetrainMotorsSS dt_closedloop_;
   SplineDrivetrain dt_spline_;
+  LineFollowDrivetrain dt_line_follow_;
   ::aos::monotonic_clock::time_point last_gyro_time_ =
       ::aos::monotonic_clock::min_time;