| Nikolai Sohmers | 3cc1fc2 | 2024-05-04 12:27:58 -0700 | [diff] [blame] | 1 | #ifndef Y2024_SWERVE_SWERVE_PUBLISHER_H_ |
| 2 | #define Y2024_SWERVE_SWERVE_PUBLISHER_H_ |
| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame] | 3 | |
| 4 | #include "gflags/gflags.h" |
| 5 | #include "glog/logging.h" |
| 6 | |
| 7 | #include "aos/events/event_loop.h" |
| 8 | #include "aos/flatbuffer_merge.h" |
| 9 | #include "aos/init.h" |
| 10 | #include "aos/json_to_flatbuffer.h" |
| James Kuszmaul | d938d33 | 2024-05-15 20:47:19 -0700 | [diff] [blame] | 11 | #include "frc971/control_loops/swerve/swerve_drivetrain_output_generated.h" |
| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame] | 12 | |
| Nikolai Sohmers | 3cc1fc2 | 2024-05-04 12:27:58 -0700 | [diff] [blame] | 13 | namespace y2024_swerve { |
| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame] | 14 | |
| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame] | 15 | class SwervePublisher { |
| 16 | public: |
| 17 | SwervePublisher(aos::EventLoop *event_loop, aos::ExitHandle *exit_handle, |
| 18 | const std::string &filename, double duration); |
| 19 | |
| 20 | private: |
| Nikolai Sohmers | 3f2a507 | 2024-06-08 14:05:59 -0700 | [diff] [blame] | 21 | aos::Sender<frc971::control_loops::swerve::Output> drivetrain_output_sender_; |
| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame] | 22 | }; |
| 23 | |
| Nikolai Sohmers | 3cc1fc2 | 2024-05-04 12:27:58 -0700 | [diff] [blame] | 24 | } // namespace y2024_swerve |
| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame] | 25 | |
| Nikolai Sohmers | 3cc1fc2 | 2024-05-04 12:27:58 -0700 | [diff] [blame] | 26 | #endif // Y2024_SWERVE_SWERVE_PUBLISHER_H_ |