Merge "Add an exposure flag to y2023 Camera Reader"
diff --git a/y2023/BUILD b/y2023/BUILD
index 60d218b..0c34ce8 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -16,8 +16,6 @@
":aos_config",
":message_bridge_client.sh",
"//y2022/www:www_files",
- "@ctre_phoenix_api_cpp_athena//:shared_libraries",
- "@ctre_phoenix_cci_athena//:shared_libraries",
],
dirs = [
"//y2023/www:www_files",
@@ -29,11 +27,6 @@
"//aos/starter:irq_affinity",
"//y2023/vision:camera_reader",
"//aos/events/logging:logger_main",
- ":joystick_reader",
- "//y2023/autonomous:binaries",
- "//y2023/control_loops/drivetrain:drivetrain",
- "//y2023/control_loops/drivetrain:trajectory_generator",
- "//y2023/control_loops/superstructure:superstructure",
],
target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
target_type = "pi",
diff --git a/y2023/y2023_pi_template.json b/y2023/y2023_pi_template.json
index 1b31e91..592aa14 100644
--- a/y2023/y2023_pi_template.json
+++ b/y2023/y2023_pi_template.json
@@ -167,22 +167,13 @@
"max_size": 4200000,
"num_readers": 4,
"read_method": "PIN",
- "num_senders": 18,
- "logger": "NOT_LOGGED"
- },
- {
- "name": "/pi{{ NUM }}/camera/decimated",
- "type": "frc971.vision.CameraImage",
- "source_node": "pi{{ NUM }}",
- "frequency": 2,
- "max_size": 4200000,
- "num_senders": 2
+ "num_senders": 18
},
{
"name": "/pi{{ NUM }}/camera",
"type": "frc971.vision.TargetMap",
"source_node": "pi{{ NUM }}",
- "frequency": 30,
+ "frequency": 40,
"num_senders": 2,
"max_size": 40000,
"logger": "LOCAL_AND_REMOTE_LOGGER",