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
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 04bdaaf..66e9c32 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -81,7 +81,8 @@
// Type of controller in charge of the drivetrain.
// 0: polydrive
// 1: motion profiled position drive (statespace)
- // 2: spline follower.
+ // 2: spline follower
+ // 3: line follower (for guiding into a target)
uint8_t controller_type;
// Position goals for each drivetrain side (in meters) when the