Add pi localizer binary
Also, run the logger on the imu node.
Change-Id: Iea96906429364777068c95285891ea46644874dc
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/control_loops/localizer/localizer_main.cc b/y2022/control_loops/localizer/localizer_main.cc
new file mode 100644
index 0000000..0cc53bb
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_main.cc
@@ -0,0 +1,21 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2022/control_loops/localizer/localizer.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+ frc971::controls::EventLoopLocalizer localizer(
+ &event_loop, ::y2022::control_loops::drivetrain::GetDrivetrainConfig());
+
+ event_loop.Run();
+
+ return 0;
+}