commit 3431d62b52cec6e18a52acf36fb62c2ca815bdd9
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Feb 17 17:07:44 2019 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Mon Feb 18 20:52:36 2019 -0800
tree d7fffc3ae735f4f1755a3ace2dbb0ace5186b7ee
parent 1057ce8d2ebed01c81d58feb5dc03c5092a8257c

Make drivetrain use generic localizer

This will lead into switching y2019 over to using the Localizer with
camera images.

Change-Id: I2790c09ed9e1cec8d6141c25a4b5a173c2ddc24c

y2014/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 19c2659..21dfcd2 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -9,8 +9,10 @@
 int main() {
   ::aos::Init();
   ::aos::ShmEventLoop event_loop;
+  ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+      ::y2014::control_loops::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig(),
-                            &event_loop);
+                            &event_loop, &localizer);
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;