| John Park | 398c74a | 2018-10-20 21:17:39 -0700 | [diff] [blame] | 1 | #include "aos/init.h" |
| Brian Silverman | c71537c | 2016-01-01 13:43:14 -0800 | [diff] [blame] | 2 | |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame] | 3 | #include "aos/events/shm-event-loop.h" |
| Austin Schuh | 2a671df | 2016-11-26 15:00:06 -0800 | [diff] [blame] | 4 | #include "frc971/control_loops/drivetrain/drivetrain.h" |
| 5 | #include "y2012/control_loops/drivetrain/drivetrain_base.h" |
| 6 | |
| 7 | using ::frc971::control_loops::drivetrain::DrivetrainLoop; |
| 8 | |
| Brian Silverman | c71537c | 2016-01-01 13:43:14 -0800 | [diff] [blame] | 9 | int main() { |
| 10 | ::aos::Init(); |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame] | 11 | ::aos::ShmEventLoop event_loop; |
| James Kuszmaul | 3431d62 | 2019-02-17 17:07:44 -0800 | [diff] [blame] | 12 | ::frc971::control_loops::drivetrain::DeadReckonEkf localizer( |
| 13 | ::y2012::control_loops::drivetrain::GetDrivetrainConfig()); |
| Austin Schuh | 2a671df | 2016-11-26 15:00:06 -0800 | [diff] [blame] | 14 | DrivetrainLoop drivetrain( |
| James Kuszmaul | 3431d62 | 2019-02-17 17:07:44 -0800 | [diff] [blame] | 15 | ::y2012::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop, |
| 16 | &localizer); |
| Brian Silverman | c71537c | 2016-01-01 13:43:14 -0800 | [diff] [blame] | 17 | drivetrain.Run(); |
| 18 | ::aos::Cleanup(); |
| 19 | return 0; |
| 20 | } |