commit e3df1ed719fbe3bf43b837b53251d90c558b96de
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Feb 20 16:21:17 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Feb 22 22:10:15 2023 -0800
tree 922b53a66a240ba0cc449df8ec5780aafe970433
parent ea1e830c23bef865e4e09ed03c59de235ae8e88e

Move y2022 roborio "localizer" to frc971 for y2023

Rename the 2022 roborio "localizer" to PuppetLocalizer and make it
available to all the years.

This adds a test to frc971/ with some dependencies on y2022.

Change-Id: Id626440f5bf5d9ce714c5a0c5bac13ec50a42f5a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2022/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2022/control_loops/drivetrain/drivetrain_main.cc b/y2022/control_loops/drivetrain/drivetrain_main.cc
index a422eaa..6e02cc7 100644
--- a/y2022/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_main.cc
@@ -3,8 +3,8 @@
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
 #include "y2022/control_loops/drivetrain/drivetrain_base.h"
-#include "y2022/control_loops/drivetrain/localizer.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
@@ -15,10 +15,11 @@
       aos::configuration::ReadConfig("aos_config.json");
 
   aos::ShmEventLoop event_loop(&config.message());
-  std::unique_ptr<::y2022::control_loops::drivetrain::Localizer> localizer =
-      std::make_unique<y2022::control_loops::drivetrain::Localizer>(
-          &event_loop,
-          y2022::control_loops::drivetrain::GetDrivetrainConfig());
+  std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
+      localizer =
+          std::make_unique<frc971::control_loops::drivetrain::PuppetLocalizer>(
+              &event_loop,
+              y2022::control_loops::drivetrain::GetDrivetrainConfig());
   std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
       y2022::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       localizer.get());