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_replay.cc

diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index c7d81c2..af6a841 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -13,6 +13,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "gflags/gflags.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
+#include "y2020/control_loops/drivetrain/localizer.h"
 
 DEFINE_string(logfile, "/tmp/logfile.bfbs",
               "Name of the logfile to read from.");
@@ -51,7 +52,7 @@
       reader.event_loop_factory()->MakeEventLoop("drivetrain");
   drivetrain_event_loop->SkipTimingReport();
 
-  frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+  y2020::control_loops::drivetrain::Localizer localizer(
       drivetrain_event_loop.get(),
       y2020::control_loops::drivetrain::GetDrivetrainConfig());
   frc971::control_loops::drivetrain::DrivetrainLoop drivetrain(