Swap to combined voltage/encoder message for localizer
Change-Id: I23b553b142bde46c321409105d49a716eb7059b6
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/drivetrain/localization/utils.h b/frc971/control_loops/drivetrain/localization/utils.h
index 07f9aff..4d21e3b 100644
--- a/frc971/control_loops/drivetrain/localization/utils.h
+++ b/frc971/control_loops/drivetrain/localization/utils.h
@@ -7,6 +7,7 @@
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/control_loops/drivetrain/hybrid_ekf.h"
+#include "frc971/control_loops/drivetrain/rio_localizer_inputs_generated.h"
#include "frc971/control_loops/pose.h"
#include "frc971/input/joystick_state_generated.h"
#include "frc971/vision/calibration_generated.h"
@@ -50,6 +51,8 @@
aos::EventLoop *const event_loop_;
aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
aos::Fetcher<frc971::control_loops::drivetrain::Position> position_fetcher_;
+ aos::Fetcher<frc971::control_loops::drivetrain::RioLocalizerInputs>
+ combined_fetcher_;
aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
};