commit 1798c077a76b5aa7ed3d87911f226119b946aa4a
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Feb 13 15:32:11 2022 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Feb 19 14:22:53 2022 -0800
tree dfad0e3da3b16619d366b69b00018f8790b21a40
parent e5f67dd90fb1e57ef9d683560ab16fc960562964

Process LocalizerOutput messages in 2022 drivetrain

Make it so that the roborio will actually pay attention to the pi's
localizer.

Change-Id: I8db97cbba65beef8c2ec863a792e57960ead996a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2022/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2022/control_loops/drivetrain/drivetrain_main.cc b/y2022/control_loops/drivetrain/drivetrain_main.cc
index e29f950..ecdcdbb 100644
--- a/y2022/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_main.cc
@@ -4,6 +4,7 @@
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2022/control_loops/drivetrain/drivetrain_base.h"
+#include "y2022/control_loops/drivetrain/localizer.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
@@ -14,7 +15,7 @@
       aos::configuration::ReadConfig("config.json");
 
   ::aos::ShmEventLoop event_loop(&config.message());
-  ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+  ::y2022::control_loops::drivetrain::Localizer localizer(
       &event_loop,
       ::y2022::control_loops::drivetrain::GetDrivetrainConfig());
   std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(