| Niko Sohmers | 3860f8a | 2024-01-12 21:05:19 -0800 | [diff] [blame] | 1 | #include "y2024/control_loops/drivetrain/drivetrain_base.h" |
| 2 | |
| 3 | #include <chrono> |
| 4 | |
| James Kuszmaul | 2549e75 | 2024-01-20 17:42:51 -0800 | [diff] [blame] | 5 | #include "frc971/constants/constants_sender_lib.h" |
| Niko Sohmers | 3860f8a | 2024-01-12 21:05:19 -0800 | [diff] [blame] | 6 | #include "frc971/control_loops/drivetrain/drivetrain_config.h" |
| James Kuszmaul | 2549e75 | 2024-01-20 17:42:51 -0800 | [diff] [blame] | 7 | #include "y2024/constants/constants_generated.h" |
| Niko Sohmers | 3860f8a | 2024-01-12 21:05:19 -0800 | [diff] [blame] | 8 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame] | 9 | namespace y2024::control_loops::drivetrain { |
| Niko Sohmers | 3860f8a | 2024-01-12 21:05:19 -0800 | [diff] [blame] | 10 | |
| James Kuszmaul | 2549e75 | 2024-01-20 17:42:51 -0800 | [diff] [blame] | 11 | const frc971::control_loops::drivetrain::DrivetrainConfig<double> |
| 12 | GetDrivetrainConfig(aos::EventLoop *event_loop) { |
| 13 | frc971::constants::ConstantsFetcher<Constants> constants_fetcher(event_loop); |
| 14 | return frc971::control_loops::drivetrain::DrivetrainConfig<double>:: |
| 15 | FromFlatbuffer( |
| 16 | *CHECK_NOTNULL(constants_fetcher.constants().common()->drivetrain())); |
| Niko Sohmers | 3860f8a | 2024-01-12 21:05:19 -0800 | [diff] [blame] | 17 | }; |
| 18 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame] | 19 | } // namespace y2024::control_loops::drivetrain |