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_main.cc b/y2023_bot4/swerve_publisher_main.cc
new file mode 100644
index 0000000..87470d7
--- /dev/null
+++ b/y2023_bot4/swerve_publisher_main.cc
@@ -0,0 +1,24 @@
+#include "aos/events/shm_event_loop.h"
+#include "y2023_bot4/swerve_publisher_lib.h"
+
+DEFINE_double(duration, 100.0, "Length of time in Ms to apply current for");
+DEFINE_string(drivetrain_position, "swerve_drivetrain_output.json",
+ "The path to the json drivetrain position to apply");
+DEFINE_string(config, "aos_config.json", "The path to aos_config.json");
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ std::unique_ptr<aos::ExitHandle> exit_handle = event_loop.MakeExitHandle();
+
+ y2023_bot4::SwervePublisher publisher(&event_loop, exit_handle.get(),
+ FLAGS_drivetrain_position,
+ FLAGS_duration);
+
+ event_loop.Run();
+}