Make drivetrain use generic localizer
This will lead into switching y2019 over to using the Localizer with
camera images.
Change-Id: I2790c09ed9e1cec8d6141c25a4b5a173c2ddc24c
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index e74ddea..12d8642 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -9,8 +9,11 @@
int main() {
::aos::Init();
::aos::ShmEventLoop event_loop;
+ ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+ ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
DrivetrainLoop drivetrain(
- ::y2016::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop);
+ ::y2016::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ &localizer);
drivetrain.Run();
::aos::Cleanup();
return 0;