| commit | e6a9fdf2f325fa81992bb15a64ad27dba8f44da6 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Jan 12 16:05:43 2019 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Jan 12 16:07:11 2019 -0800 |
| tree | 2eb941373a550551315c0e5e137d393a02674ba8 | |
| parent | 331a22355dacb7e361abe433aa7ef1217dedfd48 [diff] [blame] |
Add J and Mass to drivetrain_config They are needed for trajectory planning. Change-Id: I8daf4303fee347af77567b20078f597354ba2472
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc index 8859f16..be4f238 100644 --- a/y2014/control_loops/drivetrain/drivetrain_base.cc +++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -37,6 +37,8 @@ constants::GetValues().high_gear_ratio, constants::GetValues().low_gear_ratio, + drivetrain::kJ, + drivetrain::kMass, constants::GetValues().left_drive.shifter_hall_effect, constants::GetValues().right_drive.shifter_hall_effect, true /* default_high_gear */,