| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame^] | 1 | #ifndef Y2023_BOT4_SWERVE_PUBLISHER_H_ |
| 2 | #define Y2023_BOT4_SWERVE_PUBLISHER_H_ |
| 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" |
| 11 | #include "frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output_generated.h" |
| 12 | |
| 13 | namespace y2023_bot4 { |
| 14 | |
| 15 | namespace drivetrain = frc971::control_loops::drivetrain; |
| 16 | |
| 17 | class SwervePublisher { |
| 18 | public: |
| 19 | SwervePublisher(aos::EventLoop *event_loop, aos::ExitHandle *exit_handle, |
| 20 | const std::string &filename, double duration); |
| 21 | |
| 22 | private: |
| 23 | aos::Sender<frc971::control_loops::drivetrain::swerve::Output> |
| 24 | drivetrain_output_sender_; |
| 25 | }; |
| 26 | |
| 27 | } // namespace y2023_bot4 |
| 28 | |
| 29 | #endif // Y2023_BOT4_SWERVE_PUBLISHER_H_ |