Updated the drivetrain control loop for this year.
Still need a couple unit tests, but the current test passes.
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
new file mode 100644
index 0000000..7b07247
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -0,0 +1,32 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
+
+#include "aos/common/control_loop/ControlLoop.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+
+namespace frc971 {
+namespace control_loops {
+
+class DrivetrainLoop
+ : public aos::control_loops::ControlLoop<control_loops::Drivetrain> {
+ public:
+ // Constructs a control loop which can take a Drivetrain or defaults to the
+ // drivetrain at frc971::control_loops::drivetrain
+ explicit DrivetrainLoop(
+ control_loops::Drivetrain *my_drivetrain = &control_loops::drivetrain)
+ : aos::control_loops::ControlLoop<control_loops::Drivetrain>(
+ my_drivetrain) {}
+
+ protected:
+ // Executes one cycle of the control loop.
+ virtual void RunIteration(
+ const control_loops::Drivetrain::Goal *goal,
+ const control_loops::Drivetrain::Position *position,
+ control_loops::Drivetrain::Output *output,
+ control_loops::Drivetrain::Status *status);
+};
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_H_