Add y2024 folder
2023 bot specific code was removed.
Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: I88fc4a4b5e6bc883ea327cc306efa4e20035908b
diff --git a/y2024/control_loops/drivetrain/drivetrain_main.cc b/y2024/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..196fbb7
--- /dev/null
+++ b/y2024/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,33 @@
+#include <memory>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
+#include "y2024/constants/constants_generated.h"
+#include "y2024/control_loops/drivetrain/drivetrain_base.h"
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("aos_config.json");
+
+ frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
+
+ aos::ShmEventLoop event_loop(&config.message());
+ std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
+ localizer = std::make_unique<
+ ::frc971::control_loops::drivetrain::PuppetLocalizer>(
+ &event_loop,
+ ::y2024::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ y2024::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ localizer.get());
+
+ event_loop.Run();
+
+ return 0;
+}