Update swerve_publisher to use Goal message
Rather than attempting to send raw outputs, send the goal instead. This
also updates the swerve_publisher to handle Ctrl-C's more cleanly.
Change-Id: Ibdfe94d48295c184083c90b8672986433737bfa7
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024_swerve/swerve_publisher_main.cc b/y2024_swerve/swerve_publisher_main.cc
index da7a99f..8789fb9 100644
--- a/y2024_swerve/swerve_publisher_main.cc
+++ b/y2024_swerve/swerve_publisher_main.cc
@@ -4,7 +4,7 @@
#include "y2024_swerve/swerve_publisher_lib.h"
ABSL_FLAG(double, duration, 100.0, "Length of time in Ms to apply current for");
-ABSL_FLAG(std::string, drivetrain_position, "swerve_drivetrain_output.json",
+ABSL_FLAG(std::string, drivetrain_goal, "swerve_drivetrain_goal.json",
"The path to the json drivetrain position to apply");
ABSL_FLAG(std::string, config, "aos_config.json",
"The path to aos_config.json");
@@ -19,9 +19,9 @@
std::unique_ptr<aos::ExitHandle> exit_handle = event_loop.MakeExitHandle();
- y2024_swerve::SwervePublisher publisher(
- &event_loop, exit_handle.get(), absl::GetFlag(FLAGS_drivetrain_position),
- absl::GetFlag(FLAGS_duration));
+ y2024_swerve::SwervePublisher publisher(&event_loop, exit_handle.get(),
+ absl::GetFlag(FLAGS_drivetrain_goal),
+ absl::GetFlag(FLAGS_duration));
event_loop.Run();
}