Move CameraLog to event loop
Change-Id: I06c5e607f983b762ecb244d8c16cd24c78b596bb
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 2ae46f9..e354647 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -147,7 +147,9 @@
localizer_control_sender_(
event_loop->MakeSender<
::frc971::control_loops::drivetrain::LocalizerControl>(
- ".frc971.control_loops.drivetrain.localizer_control")) {
+ ".frc971.control_loops.drivetrain.localizer_control")),
+ camera_log_sender_(
+ event_loop->MakeSender<::y2019::CameraLog>(".y2019.camera_log")) {
const uint16_t team = ::aos::network::GetTeamNumber();
superstructure_queue.goal.FetchLatest();
if (superstructure_queue.goal.get()) {
@@ -484,7 +486,7 @@
}
{
- auto camera_log_message = camera_log.MakeMessage();
+ auto camera_log_message = camera_log_sender_.MakeMessage();
camera_log_message->log = data.IsPressed(kCameraLog);
LOG_STRUCT(DEBUG, "camera_log", *camera_log_message);
camera_log_message.Send();
@@ -507,6 +509,8 @@
::aos::Sender<::frc971::control_loops::drivetrain::LocalizerControl>
localizer_control_sender_;
+ ::aos::Sender<::y2019::CameraLog> camera_log_sender_;
+
// Bool to track if we've been above the deploy position. Once this bool is
// set, don't let the stilts retract until we see the platform.
bool was_above_ = false;