commit 09f564a999d4bf2dff930838156513ccffef40d2
author James Kuszmaul <jabukuszmaul@gmail.com> Mon Feb 18 17:37:09 2019 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Thu Feb 21 18:06:08 2019 -0800
tree 41327e7a831ea83be1fca8c3d459dc2b52438117
parent 06c36922b400fb6fe795fc490c4b55940f90422f

Fold y2019 localizer into drivetrain

Change-Id: Icc192ae9f910741b54f114ec9a27559cc289b29b

y2019/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2019/control_loops/drivetrain/drivetrain_main.cc b/y2019/control_loops/drivetrain/drivetrain_main.cc
index 50fd030..63da6c9 100644
--- a/y2019/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_main.cc
@@ -3,14 +3,15 @@
 #include "aos/events/shm-event-loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
+#include "y2019/control_loops/drivetrain/event_loop_localizer.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
 int main() {
   ::aos::Init();
   ::aos::ShmEventLoop event_loop;
-  ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
-      ::y2019::control_loops::drivetrain::GetDrivetrainConfig());
+  ::y2019::control_loops::drivetrain::EventLoopLocalizer localizer(
+      ::y2019::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop);
   DrivetrainLoop drivetrain(
       ::y2019::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       &localizer);