Create y2022 directory
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I3a57026587204e084276c7e338c397467f776a70
diff --git a/y2022/control_loops/drivetrain/drivetrain_main.cc b/y2022/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..e29f950
--- /dev/null
+++ b/y2022/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,27 @@
+#include <memory>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
+ ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+ &event_loop,
+ ::y2022::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ ::y2022::control_loops::drivetrain::GetDrivetrainConfig(),
+ &event_loop, &localizer);
+
+ event_loop.Run();
+
+ return 0;
+}