y2024_swerve/swerve_publisher_lib.h

#ifndef Y2024_SWERVE_SWERVE_PUBLISHER_H_
#define Y2024_SWERVE_SWERVE_PUBLISHER_H_

#include "absl/flags/flag.h"
#include "absl/log/check.h"
#include "absl/log/log.h"

#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "frc971/control_loops/swerve/swerve_drivetrain_goal_static.h"

namespace y2024_swerve {

class SwervePublisher {
 public:
  SwervePublisher(aos::EventLoop *event_loop, aos::ExitHandle *exit_handle,
                  const std::string &filename, double duration);

  ~SwervePublisher();

 private:
  aos::Sender<frc971::control_loops::swerve::GoalStatic>
      drivetrain_goal_sender_;
};

}  // namespace y2024_swerve

#endif  // Y2024_SWERVE_SWERVE_PUBLISHER_H_