| commit | 8f8debfbcfeea801221b8c3c60c6c2097fcdde4b | [log] [tgz] |
|---|---|---|
| author | Brian Silverman <bsilver16384@gmail.com> | Sun Mar 11 19:30:23 2018 -0700 |
| committer | Brian Silverman <bsilver16384@gmail.com> | Wed Mar 14 18:31:26 2018 -0800 |
| tree | 1f3dcc1cf20ee57ea37c8a691f69679802d9033a | |
| parent | a35e5e5c9b44e701638fa8efc166aefd15f7d98c [diff] [blame] |
Do superstructure initialization before going realtime It does a lot of math in the constructor, which eventually runs into the realtime resource limit. Change-Id: Ie57dcc956019ce291f495c1af9a9040b706e7fcf
diff --git a/y2018/control_loops/superstructure/superstructure_main.cc b/y2018/control_loops/superstructure/superstructure_main.cc index 04d245e..e8e1c7b 100644 --- a/y2018/control_loops/superstructure/superstructure_main.cc +++ b/y2018/control_loops/superstructure/superstructure_main.cc
@@ -3,8 +3,9 @@ #include "aos/linux_code/init.h" int main() { - ::aos::Init(); + ::aos::InitNRT(true); ::y2018::control_loops::superstructure::Superstructure superstructure; + ::aos::GoRT(); superstructure.Run(); ::aos::Cleanup(); return 0;