commit 93825a057bc18b5919dbde4827cc5fea5bed86a8
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Feb 13 16:50:33 2022 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Feb 19 14:22:53 2022 -0800
tree 93481a8000dfc754c375f73029c7eb49b568d029
parent 1798c077a76b5aa7ed3d87911f226119b946aa4a

Add pi localizer binary

Also, run the logger on the imu node.

Change-Id: Iea96906429364777068c95285891ea46644874dc
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2022/control_loops/localizer/BUILD

diff --git a/y2022/control_loops/localizer/BUILD b/y2022/control_loops/localizer/BUILD
index 3332c1e..034c779 100644
--- a/y2022/control_loops/localizer/BUILD
+++ b/y2022/control_loops/localizer/BUILD
@@ -66,12 +66,23 @@
         "//frc971/wpilib:imu_batch_fbs",
         "//frc971/wpilib:imu_fbs",
         "//frc971/zeroing:imu_zeroer",
-        "//y2020/control_loops/drivetrain:drivetrain_base",
         "//y2020/vision/sift:sift_fbs",
         "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
+cc_binary(
+    name = "localizer_main",
+    srcs = ["localizer_main.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":localizer",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+        "//y2022/control_loops/drivetrain:drivetrain_base",
+    ],
+)
+
 cc_test(
     name = "localizer_test",
     srcs = ["localizer_test.cc"],
@@ -103,5 +114,6 @@
         "//aos/events:simulated_event_loop",
         "//aos/events/logging:log_reader",
         "//aos/events/logging:log_writer",
+        "//y2020/control_loops/drivetrain:drivetrain_base",
     ],
 )