commit 68f7d276e857ed644adc0559a38feec1a563b572
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Feb 22 20:55:02 2020 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Feb 22 20:55:02 2020 -0800
tree c2a356728e2e627a7b29c685cbf3ebe5a235e366
parent 26ed3a798408a13eb18498abfac5ed359ae6e05b

Enable y2020 Localizer in drivetrain_main

Change-Id: Iebfb922acc7b3c56a671e6a3911d713cecee6e87

y2020/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2020/control_loops/drivetrain/drivetrain_main.cc b/y2020/control_loops/drivetrain/drivetrain_main.cc
index 04bd107..7159118 100644
--- a/y2020/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_main.cc
@@ -2,6 +2,7 @@
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
+#include "y2020/control_loops/drivetrain/localizer.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
@@ -12,7 +13,7 @@
       aos::configuration::ReadConfig("config.json");
 
   ::aos::ShmEventLoop event_loop(&config.message());
-  ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+  ::y2020::control_loops::drivetrain::Localizer localizer(
       &event_loop, ::y2020::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
       ::y2020::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,