commit 2ca00ecebc9ce00a004e2efacfcb4aa7243f1efe
author Austin Schuh <austin.linux@gmail.com> Sun Jun 20 14:51:25 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Jun 20 14:55:05 2021 -0700
tree 501f1443b4b32a568bb8c824dea093360ae10130
parent 3223ac1f2555c4ce986091a38b9a72240025dc6b

Heap allocate the drivetrain to preserve stack

We were overflowing the stack because the drivetrain code had grown to
use enough memory to cause problems.  Switch to heap allocating the
object since it can be pre-allocated regardless.

Change-Id: I5264ea976239174dd86302b065e9ea5e27321424
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2016/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 3c60a63..7edcde5 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
 
 #include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2016/control_loops/drivetrain/drivetrain_base.h"
 
@@ -15,7 +16,7 @@
   ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
-  DrivetrainLoop drivetrain(
+  std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
       ::y2016::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       &localizer);