Added y2018 drivetrain folder and files.
Change-Id: I6375a2b44f69e943ff2b1278fb6464177abd5dd8
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..6b6f48d
--- /dev/null
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,45 @@
+#include "y2018/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2018/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2018 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+ static DrivetrainConfig kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+
+ ::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2018::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2018::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+ 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 */,
+ };
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2018