commit eeec74ac42a68314e879d9f86aefcdaf3a4a6ea2
author Austin Schuh <austin.linux@gmail.com> Sun Jan 27 20:58:59 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Jan 30 23:35:08 2019 -0800
tree a640667c944ad36c5a668bc74dc762e59bb986a5
parent a1654eda541e9e8b1b5129ab2bd117548abb9377

Move Position, robot_state, and joystick_state over

ControlLoop should now be completely using the event loop.

Change-Id: Ifb936c384d1031abbc9e61d834b1ef157ad0841c

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 36f7c82..27a0a76 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -331,7 +331,7 @@
     dt_openloop_.SetGoal(*goal);
   }
 
-  dt_openloop_.Update();
+  dt_openloop_.Update(robot_state().voltage_battery);
 
   dt_closedloop_.Update(output != NULL && controller_type == 1);
 
@@ -393,7 +393,7 @@
     right_high_requested_ = output->right_high;
   }
 
-  const double scalar = ::aos::robot_state->voltage_battery / 12.0;
+  const double scalar = robot_state().voltage_battery / 12.0;
 
   left_voltage *= scalar;
   right_voltage *= scalar;