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

y2016/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 3f15694..7013c52 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -37,10 +37,12 @@
       drivetrain::kLowGearRatio,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
-      true,
+      true /* default_high_gear */,
       constants::GetValues().down_error,
-      0.25,
-      1.0};
+      0.25 /* wheel_non_linearity */,
+      1.0 /* quickturn_wheel_multiplier */,
+      1.0 /* wheel_multiplier */,
+  };
 
   return kDrivetrainConfig;
 };