Fetcher-ify 2022 localizer
It was getting behind sometimes with watchers. Poll the
superstructure/image channels instead.
Change-Id: I0e2ca130f538ac1354c749510c931ee5d06a4daf
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index 4b7eff0..c19bf05 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -322,6 +322,10 @@
aos::Sender<LocalizerVisualization> visualization_sender_;
aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
+ std::array<aos::Fetcher<y2022::vision::TargetEstimate>, 4>
+ target_estimate_fetchers_;
+ aos::Fetcher<y2022::control_loops::superstructure::Status>
+ superstructure_fetcher_;
zeroing::ImuZeroer zeroer_;
aos::monotonic_clock::time_point last_output_send_ =
aos::monotonic_clock::min_time;