commit 01a9f2aada8524f2e3ebd39dd561fa939717d602
author Austin Schuh <austin.linux@gmail.com> Mon May 27 13:36:30 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:45:43 2019 -0700
tree 142f79caf0d01a8af5dff9e9da9d462f9041a4a5
parent 4b652c91cbf16689ac402c3caa3774036d89e650

Convert StatusLight to event loops.

Change-Id: Ifc8a497b0f30c0ce1624b005791859eef2d9912f

y2018/control_loops/superstructure/superstructure.cc

diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 9474b6d..d94e34d 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -24,21 +24,12 @@
 constexpr double kMaxIntakeRollerVoltage = 12.0;
 }  // namespace
 
-void SendColors(float red, float green, float blue) {
-  auto new_status_light = status_light.MakeMessage();
-  new_status_light->red = red;
-  new_status_light->green = green;
-  new_status_light->blue = blue;
-
-  if (!new_status_light.Send()) {
-    LOG(ERROR, "Failed to send lights.\n");
-  }
-}
-
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
     : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(event_loop,
                                                                      name),
+      status_light_sender_(
+          event_loop->MakeSender<::y2018::StatusLight>(".y2018.status_light")),
       intake_left_(constants::GetValues().left_intake.zeroing),
       intake_right_(constants::GetValues().right_intake.zeroing) {}
 
@@ -292,6 +283,17 @@
   last_box_distance_ = clipped_box_distance;
 }
 
+void Superstructure::SendColors(float red, float green, float blue) {
+  auto new_status_light = status_light_sender_.MakeMessage();
+  new_status_light->red = red;
+  new_status_light->green = green;
+  new_status_light->blue = blue;
+
+  if (!new_status_light.Send()) {
+    LOG(ERROR, "Failed to send lights.\n");
+  }
+}
+
 }  // namespace superstructure
 }  // namespace control_loops
 }  // namespace y2018