commit e8a54c0c5505b4d0d11102b309016fb78e168da3
author Austin Schuh <austin.linux@gmail.com> Mon Mar 05 00:25:58 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 10 19:44:32 2018 -0800
tree 473e16adb91ab676f27e357fb421cfc9855c9f6c
parent ab15c4d029b14c076d2f01a7358a00fcf987d762

Drivetrain now kind of works.

Change-Id: Ib8a518f849553949fff1095421cef1fd6f977f44

frc971/control_loops/drivetrain/polydrivetrain.cc

diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index a842f50..97df2cf 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -121,8 +121,10 @@
   wheel_ = 2.0 * wheel - wheel_;
   quickturn_ = quickturn;
 
-  if (!quickturn_) {
+  if (quickturn_) {
     wheel_ *= dt_config_.quickturn_wheel_multiplier;
+  } else {
+    wheel_ *= dt_config_.wheel_multiplier;
   }
 
   static const double kThrottleDeadband = 0.05;