Add code for swerve drivebase experiments
Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I24701125e0826d46845cc85abdae8dff52b7c678
diff --git a/y2023_bot4/swerve_publisher_lib.h b/y2023_bot4/swerve_publisher_lib.h
new file mode 100644
index 0000000..5969b7b
--- /dev/null
+++ b/y2023_bot4/swerve_publisher_lib.h
@@ -0,0 +1,29 @@
+#ifndef Y2023_BOT4_SWERVE_PUBLISHER_H_
+#define Y2023_BOT4_SWERVE_PUBLISHER_H_
+
+#include "gflags/gflags.h"
+#include "glog/logging.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/drivetrain/swerve/swerve_drivetrain_output_generated.h"
+
+namespace y2023_bot4 {
+
+namespace drivetrain = frc971::control_loops::drivetrain;
+
+class SwervePublisher {
+ public:
+ SwervePublisher(aos::EventLoop *event_loop, aos::ExitHandle *exit_handle,
+ const std::string &filename, double duration);
+
+ private:
+ aos::Sender<frc971::control_loops::drivetrain::swerve::Output>
+ drivetrain_output_sender_;
+};
+
+} // namespace y2023_bot4
+
+#endif // Y2023_BOT4_SWERVE_PUBLISHER_H_