Add 2023 drivetrain writer to wpilib_interface
Uses ctre phoenixpro to write to the falcons on CAN
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I43bb89c893b4cae58c309bb29727490a1cccd526
diff --git a/y2023/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
index cf8aa8a..0817b3d 100644
--- a/y2023/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -19,6 +19,9 @@
std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
&event_loop,
::y2023::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ y2023::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ localizer.get());
event_loop.Run();