Update swerve drivetrain position messages & logic
This makes it so that the swerve drivetrain positions are sent in two
separate position messages (for FPGA-based and CAN-based positions),
using message definitions from the frc971/ folder.
Also refactors the SwerveModule class/usage a bit.
Removes the follower wheels from the y2024_swerve code.
Change-Id: I36898c3337b5a1437ce0c2a0189fd317929f1986
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024_swerve/swerve_publisher_lib.h b/y2024_swerve/swerve_publisher_lib.h
index 1a07865..e577455 100644
--- a/y2024_swerve/swerve_publisher_lib.h
+++ b/y2024_swerve/swerve_publisher_lib.h
@@ -12,16 +12,13 @@
namespace y2024_swerve {
-namespace drivetrain = frc971::control_loops::drivetrain;
-
class SwervePublisher {
public:
SwervePublisher(aos::EventLoop *event_loop, aos::ExitHandle *exit_handle,
const std::string &filename, double duration);
private:
- aos::Sender<frc971::control_loops::drivetrain::swerve::Output>
- drivetrain_output_sender_;
+ aos::Sender<frc971::control_loops::swerve::Output> drivetrain_output_sender_;
};
} // namespace y2024_swerve