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

y2018/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index 67df3be..d589bc1 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -20,7 +20,7 @@
 const DrivetrainConfig &GetDrivetrainConfig() {
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
-      ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
+      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
 
       ::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
@@ -34,7 +34,8 @@
       kThreeStateDriveShifter, kThreeStateDriveShifter,
       true /* default_high_gear */, 0 /* down_offset if using constants use
                                    constants::GetValues().down_error */,
-      0.4 /* wheel_non_linearity */, 1.0 /* quickturn_wheel_multiplier */,
+      0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
+      1.1 /* wheel_multiplier */,
   };
 
   return kDrivetrainConfig;