commit 2a2faa6a016087a88651a2934a810aadba7bf715
author Maxwell Henderson <mxwhenderson@gmail.com> Sat Mar 11 15:05:46 2023 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Sat Mar 11 15:18:04 2023 -0800
tree ac6641c9d0796532d455664ab016ea0f2ba4ae29
parent 8e7e4ca6f840b5eeaa9a5deca1ac04dcb5a80feb

Add led_indicator to wpilib_interface

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ia76a33fd4e583de839172060354606b76b56fdfa

y2023/BUILD

diff --git a/y2023/BUILD b/y2023/BUILD
index d897c06..e92292b 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -297,6 +297,7 @@
         "//third_party:phoenixpro",
         "//third_party:wpilib",
         "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
+        "//y2023/control_loops/superstructure:led_indicator_lib",
         "//y2023/control_loops/superstructure:superstructure_output_fbs",
         "//y2023/control_loops/superstructure:superstructure_position_fbs",
     ],

y2023/wpilib_interface.cc

diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 033d3d7..cd52cfd 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -56,6 +56,7 @@
 #include "y2023/can_configuration_generated.h"
 #include "y2023/constants.h"
 #include "y2023/control_loops/drivetrain/drivetrain_can_position_generated.h"
+#include "y2023/control_loops/superstructure/led_indicator.h"
 #include "y2023/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_position_generated.h"
 
@@ -1026,6 +1027,8 @@
 
     AddLoop(&can_output_event_loop);
 
+    // Thread 6
+    // Setup superstructure output
     ::aos::ShmEventLoop output_event_loop(&config.message());
     output_event_loop.set_name("PWMOutputWriter");
     SuperstructureWriter superstructure_writer(&output_event_loop);
@@ -1041,6 +1044,14 @@
 
     AddLoop(&output_event_loop);
 
+    // Thread 7
+    // Setup led_indicator
+    ::aos::ShmEventLoop led_indicator_event_loop(&config.message());
+    led_indicator_event_loop.set_name("LedIndicator");
+    control_loops::superstructure::LedIndicator led_indicator(
+        &led_indicator_event_loop);
+    AddLoop(&led_indicator_event_loop);
+
     RunLoops();
   }
 };