Fix priority issues with 2023 code.
Sigh, superstructure wasn't RT.
Change-Id: I7393c9fbc98a9fe9e4e26a5eae068aca44a653df
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 03c6269..9d5d564 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -31,7 +31,9 @@
event_loop->MakeFetcher<aos::JoystickState>("/aos")),
arm_(values_),
end_effector_(),
- wrist_(values->wrist.subsystem_params) {}
+ wrist_(values->wrist.subsystem_params) {
+ event_loop->SetRuntimeRealtimePriority(30);
+}
void Superstructure::RunIteration(const Goal *unsafe_goal,
const Position *position,