Drivetrain now kind of works.
Change-Id: Ib8a518f849553949fff1095421cef1fd6f977f44
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 2c3a6f8..b43323b 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -32,10 +32,12 @@
constants::GetValues().low_gear_ratio,
constants::GetValues().left_drive.shifter_hall_effect,
constants::GetValues().right_drive.shifter_hall_effect,
- true,
+ true /* default_high_gear */,
0,
- 0.25,
- 1.0};
+ 0.25 /* wheel_non_linearity */,
+ 1.0 /* quickturn_wheel_multiplier */,
+ 1.0 /* wheel_multiplier */,
+ };
return kDrivetrainConfig;
};