Turn the red LED on and off
Not sure which is which on green vs blue, so just turn those off for
now.
Change-Id: I305d896d9c23da32b1c3699b58dce67e07b606f1
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index b43f421..0426444 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -18,6 +18,7 @@
#include "Relay.h"
#include "Servo.h"
#include "VictorSP.h"
+#include "ctre/phoenix/CANifier.h"
#undef ERROR
#include "aos/common/commonmath.h"
@@ -50,6 +51,7 @@
#include "frc971/wpilib/wpilib_robot_base.h"
#include "y2018/constants.h"
#include "y2018/control_loops/superstructure/superstructure.q.h"
+#include "y2018/status_light.q.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
@@ -645,6 +647,19 @@
to_log.read_solenoids = pcm_->GetAll();
LOG_STRUCT(DEBUG, "pneumatics info", to_log);
}
+
+ status_light.FetchLatest();
+ if (status_light.get()) {
+ LOG_STRUCT(DEBUG, "writing", *status_light);
+ // Not sure which of these is red vs green. We're not ready to use
+ // either,
+ // so just turn them off.
+ canifier_.SetLEDOutput(1.0, ::ctre::phoenix::CANifier::LEDChannelA);
+ canifier_.SetLEDOutput(1.0, ::ctre::phoenix::CANifier::LEDChannelB);
+ // Red
+ canifier_.SetLEDOutput(1 - status_light->red,
+ ::ctre::phoenix::CANifier::LEDChannelC);
+ }
}
}
@@ -661,6 +676,8 @@
::aos::Queue<::y2018::control_loops::SuperstructureQueue::Output>
superstructure_;
+ ::ctre::phoenix::CANifier canifier_{0};
+
::std::atomic<bool> run_{true};
};