Add y2023 folder
2022 Bot specific things were removed
Change-Id: I6563d477a65bf2eae5d39933003742bd372cf82e
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Xander Yee <xander.yee@gmail.com>
diff --git a/y2023/autonomous/autonomous_actor.cc b/y2023/autonomous/autonomous_actor.cc
new file mode 100644
index 0000000..a815b25
--- /dev/null
+++ b/y2023/autonomous/autonomous_actor.cc
@@ -0,0 +1,37 @@
+#include "y2023/autonomous/autonomous_actor.h"
+
+#include <chrono>
+#include <cinttypes>
+#include <cmath>
+
+#include "aos/logging/logging.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+
+namespace y2023 {
+namespace actors {
+
+using ::aos::monotonic_clock;
+using ::frc971::ProfileParametersT;
+using frc971::control_loops::drivetrain::LocalizerControl;
+namespace chrono = ::std::chrono;
+
+AutonomousActor::AutonomousActor(::aos::EventLoop *event_loop)
+ : frc971::autonomous::BaseAutonomousActor(
+ event_loop, control_loops::drivetrain::GetDrivetrainConfig()) {}
+
+void AutonomousActor::Reset() {
+ InitializeEncoders();
+ ResetDrivetrain();
+}
+
+bool AutonomousActor::RunAction(
+ const ::frc971::autonomous::AutonomousActionParams *params) {
+ Reset();
+
+ AOS_LOG(INFO, "Params are %d\n", params->mode());
+ return true;
+}
+
+} // namespace actors
+} // namespace y2023