| 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); |
| Austin Schuh | 6bdcc37 | 2024-06-27 14:49:11 -0700 | [diff] [blame] | 14 | CHECK(constants_fetcher.constants().common() != nullptr); |
| 15 | CHECK(constants_fetcher.constants().common()->drivetrain() != nullptr); |
| James Kuszmaul | 2549e75 | 2024-01-20 17:42:51 -0800 | [diff] [blame] | 16 | return frc971::control_loops::drivetrain::DrivetrainConfig<double>:: |
| Austin Schuh | 6bdcc37 | 2024-06-27 14:49:11 -0700 | [diff] [blame] | 17 | FromFlatbuffer(*constants_fetcher.constants().common()->drivetrain()); |
| Niko Sohmers | 3860f8a | 2024-01-12 21:05:19 -0800 | [diff] [blame] | 18 | }; |
| 19 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame] | 20 | } // namespace y2024::control_loops::drivetrain |