commit 355311fea678fdeb119bb133e143edf8010e7927
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Mar 14 07:53:48 2022 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Mar 14 07:53:48 2022 -0700
tree 789e4d0fade2b81e644999d5f74b90a857fb339e
parent 246e51c920539a59da620e74293aab548188390e

Actually run 2022 localizer on RT scheduler

This explains some things.....

Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
Change-Id: I1e6bd69caaadbd5d70fc7795f4f0c381c4a28aa0

y2022/localizer/localizer.cc

diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index e75c014..ff3a181 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -885,6 +885,7 @@
       zeroer_(zeroing::ImuZeroer::FaultBehavior::kTemporary),
       left_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()),
       right_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()) {
+  event_loop->SetRuntimeRealtimePriority(40);
   event_loop_->MakeWatcher(
       "/drivetrain",
       [this](