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/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..cf8aa8a
--- /dev/null
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,26 @@
+#include <memory>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("aos_config.json");
+
+ aos::ShmEventLoop event_loop(&config.message());
+ std::unique_ptr<::frc971::control_loops::drivetrain::DeadReckonEkf>
+ localizer =
+ std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
+ &event_loop,
+ ::y2023::control_loops::drivetrain::GetDrivetrainConfig());
+
+ event_loop.Run();
+
+ return 0;
+}