commit 70183d625d21b1946d866bc92ac659348d00a65f
author Filip Kujawa <filip.j.kujawa@gmail.com> Sat Mar 02 17:02:51 2024 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Mar 22 21:19:01 2024 -0700
tree 9aed4bf31c27206f4108c7fc627a9e598b57618d
parent 9cf6c0f1fd9dfe761af4c5e7044cbb5536ab1ffe

Add led_indicator to wpilib_interface

Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: I266cdfcec7eaadeb49c2c2cb9036d770ada26dad

y2024/BUILD

diff --git a/y2024/BUILD b/y2024/BUILD
index 7bbf64f..7568050 100644
--- a/y2024/BUILD
+++ b/y2024/BUILD
@@ -152,7 +152,7 @@
         "//aos/network:message_bridge_client_fbs",
         "//aos/network:message_bridge_server_fbs",
         "//frc971/wpilib:pdp_values_fbs",
-        #y2019 stuff shouldn't be here (e.g. target selector)
+        # y2019 stuff shouldn't be here (e.g. target selector)
         "//y2024/constants:constants_fbs",
         "//aos/network:timestamp_fbs",
         "//y2024/control_loops/superstructure:superstructure_goal_fbs",
@@ -277,6 +277,7 @@
         "//third_party:phoenix6",
         "//third_party:wpilib",
         "//y2024/constants:constants_fbs",
+        "//y2024/control_loops/superstructure:led_indicator_lib",
         "//y2024/control_loops/superstructure:superstructure_can_position_fbs",
         "//y2024/control_loops/superstructure:superstructure_output_fbs",
         "//y2024/control_loops/superstructure:superstructure_position_fbs",

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 803845c..301ab79 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -53,6 +53,7 @@
 #include "frc971/wpilib/wpilib_robot_base.h"
 #include "y2024/constants.h"
 #include "y2024/constants/constants_generated.h"
+#include "y2024/control_loops/superstructure/led_indicator.h"
 #include "y2024/control_loops/superstructure/superstructure_can_position_static.h"
 #include "y2024/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2024/control_loops/superstructure/superstructure_position_generated.h"
@@ -731,6 +732,14 @@
 
     AddLoop(&can_output_event_loop);
 
+    // Thread 6
+    // Setup led_indicator
+    ::aos::ShmEventLoop led_indicator_event_loop(&config.message());
+    led_indicator_event_loop.set_name("LedIndicator");
+    control_loops::superstructure::LedIndicator led_indicator(
+        &led_indicator_event_loop);
+    AddLoop(&led_indicator_event_loop);
+
     RunLoops();
   }
 };