Convert control loop tests over to simulated event loop
This makes it so that we properly only use ShmEventLoop for running in
realtime on a robot. Very nice.
Change-Id: I46b770b336f59e08cfaf28511b3bd5689f72fff1
diff --git a/y2017/control_loops/drivetrain/drivetrain_main.cc b/y2017/control_loops/drivetrain/drivetrain_main.cc
index 808f215..a78d97f 100644
--- a/y2017/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_main.cc
@@ -7,14 +7,17 @@
using ::frc971::control_loops::drivetrain::DrivetrainLoop;
int main() {
- ::aos::Init();
+ ::aos::InitNRT(true);
+
::aos::ShmEventLoop event_loop;
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
- ::y2017::control_loops::drivetrain::GetDrivetrainConfig());
+ &event_loop, ::y2017::control_loops::drivetrain::GetDrivetrainConfig());
DrivetrainLoop drivetrain(
::y2017::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
&localizer);
- drivetrain.Run();
+
+ event_loop.Run();
+
::aos::Cleanup();
return 0;
}