From 60a2d43c3c356dd1b152d598745aec308e201600 Mon Sep 17 00:00:00 2001
From: danielbrownmsm <daniel.brown@msmrockets.org>
Date: Mon, 26 Dec 2022 22:01:54 -0600
Subject: [PATCH] add swerve drive to RobotContainer per #11

---
 src/main/cpp/RobotContainer.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
index cd76d90..7a31187 100644
--- a/src/main/cpp/RobotContainer.cpp
+++ b/src/main/cpp/RobotContainer.cpp
@@ -29,6 +29,21 @@ RobotContainer::RobotContainer() {
     drivetrain_ = std::make_shared<Drivetrain>(drivetrain_sw_.get());
     VOKC_CALL(drivetrain_->Init());
 
+
+    // == swerve drive ==
+    std::shared_ptr<SwerveDriveHardwareInterface> swerve_drive_hw;
+    VOKC_CALL(SetupSwerveDriveInterface(hardware_, &swerve_drive_hw));
+
+    // Initialize the software interface
+    swerve_drive_sw_ = std::make_shared<SwerveDriveSoftwareInterface>();
+
+    // Link SwerveDriveIO to hardware / software
+    swerve_drive_io_ = std::make_shared<SwerveDriveIO>(swerve_drive_hw.get(), swerve_drive_sw_.get());
+
+    // Link intake software to the I/O
+    swerve_drive_ = std::make_shared<SwerveDrive>(swerve_drive_sw_.get());
+
+
     // == intake ==
     std::shared_ptr<IntakeHardwareInterface> intake_hw;
     VOKC_CALL(SetupIntakeInterface(hardware_, &intake_hw));