| John Park | 398c74a | 2018-10-20 21:17:39 -0700 | [diff] [blame] | 1 | #include "aos/init.h" |
| Brian Silverman | 17f503e | 2015-08-02 18:17:18 -0700 | [diff] [blame] | 2 | |
| Alex Perry | cb7da4b | 2019-08-28 19:35:56 -0700 | [diff] [blame^] | 3 | #include "aos/events/shm_event_loop.h" |
| Comran Morshed | 5323ecb | 2015-12-26 20:50:55 +0000 | [diff] [blame] | 4 | #include "frc971/control_loops/drivetrain/drivetrain.h" |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame] | 5 | #include "y2014/control_loops/drivetrain/drivetrain_base.h" |
| Comran Morshed | 5323ecb | 2015-12-26 20:50:55 +0000 | [diff] [blame] | 6 | |
| 7 | using ::frc971::control_loops::drivetrain::DrivetrainLoop; |
| 8 | |
| Brian Silverman | 17f503e | 2015-08-02 18:17:18 -0700 | [diff] [blame] | 9 | int main() { |
| Austin Schuh | 9fe68f7 | 2019-08-10 19:32:03 -0700 | [diff] [blame] | 10 | ::aos::InitNRT(true); |
| 11 | |
| Alex Perry | cb7da4b | 2019-08-28 19:35:56 -0700 | [diff] [blame^] | 12 | aos::FlatbufferDetachedBuffer<aos::Configuration> config = |
| 13 | aos::configuration::ReadConfig("config.json"); |
| 14 | |
| 15 | ::aos::ShmEventLoop event_loop(&config.message()); |
| James Kuszmaul | 3431d62 | 2019-02-17 17:07:44 -0800 | [diff] [blame] | 16 | ::frc971::control_loops::drivetrain::DeadReckonEkf localizer( |
| Austin Schuh | 9fe68f7 | 2019-08-10 19:32:03 -0700 | [diff] [blame] | 17 | &event_loop, ::y2014::control_loops::GetDrivetrainConfig()); |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame] | 18 | DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig(), |
| James Kuszmaul | 3431d62 | 2019-02-17 17:07:44 -0800 | [diff] [blame] | 19 | &event_loop, &localizer); |
| Austin Schuh | 9fe68f7 | 2019-08-10 19:32:03 -0700 | [diff] [blame] | 20 | |
| 21 | event_loop.Run(); |
| 22 | |
| Brian Silverman | 17f503e | 2015-08-02 18:17:18 -0700 | [diff] [blame] | 23 | ::aos::Cleanup(); |
| 24 | return 0; |
| 25 | } |