Change the usage constants fetcher in drivetrain
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I8963a27272784d46892a0af73b2050010e9acbd4
diff --git a/y2024/control_loops/drivetrain/drivetrain_main.cc b/y2024/control_loops/drivetrain/drivetrain_main.cc
index e0b2eb7..82629de 100644
--- a/y2024/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_main.cc
@@ -18,14 +18,15 @@
frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
aos::ShmEventLoop event_loop(&config.message());
+ const auto drivetrain_config =
+ ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop);
+
std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
localizer = std::make_unique<
::frc971::control_loops::drivetrain::PuppetLocalizer>(
- &event_loop,
- ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop));
+ &event_loop, drivetrain_config);
std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
- y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop),
- &event_loop, localizer.get());
+ drivetrain_config, &event_loop, localizer.get());
event_loop.Run();