Add localizer reset buttons to the drivetrain
This lets us recover without command line help.
Change-Id: Ia2ef1837a2ec1cf17ec1974832b1bd552e7c0e4a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/input/drivetrain_input.h b/frc971/input/drivetrain_input.h
index 3419ea7..a33d449 100644
--- a/frc971/input/drivetrain_input.h
+++ b/frc971/input/drivetrain_input.h
@@ -94,6 +94,11 @@
// Returns the current robot velocity in m/s.
double robot_velocity() const { return robot_velocity_; }
+ // Returns the current drivetrain status.
+ const control_loops::drivetrain::Status *drivetrain_status() const {
+ return drivetrain_status_fetcher_.get();
+ }
+
void set_vision_align_fn(
::std::function<bool(const ::frc971::input::driver_station::Data &data)>
vision_align_fn) {