commit e038220dcfad042ddf9160655397dee1f8bef3ec
author Austin Schuh <austin.linux@gmail.com> Fri Apr 01 22:30:25 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Apr 01 22:30:37 2022 -0700
tree 27ecd1859d8b5e308debc613df07bd6de5d14e0a
parent 8a2ba2e68b590029f6bc75d87bf6530f06a69612

Make new LED indicator not crash.

event_loop wasn't being initialized.

Change-Id: I407554863b7e2b39b90dd459482b0bd55b014460
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/superstructure/led_indicator.cc

diff --git a/y2022/control_loops/superstructure/led_indicator.cc b/y2022/control_loops/superstructure/led_indicator.cc
index f6b0267..94d0506 100644
--- a/y2022/control_loops/superstructure/led_indicator.cc
+++ b/y2022/control_loops/superstructure/led_indicator.cc
@@ -5,19 +5,20 @@
 namespace y2022::control_loops::superstructure {
 
 LedIndicator::LedIndicator(aos::EventLoop *event_loop)
-    : drivetrain_output_fetcher_(
-          event_loop->MakeFetcher<frc971::control_loops::drivetrain::Output>(
+    : event_loop_(event_loop),
+      drivetrain_output_fetcher_(
+          event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Output>(
               "/drivetrain")),
       superstructure_status_fetcher_(
-          event_loop->MakeFetcher<Status>("/superstructure")),
+          event_loop_->MakeFetcher<Status>("/superstructure")),
       server_statistics_fetcher_(
-          event_loop->MakeFetcher<aos::message_bridge::ServerStatistics>(
+          event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
               "/roborio/aos")),
       client_statistics_fetcher_(
-          event_loop->MakeFetcher<aos::message_bridge::ClientStatistics>(
+          event_loop_->MakeFetcher<aos::message_bridge::ClientStatistics>(
               "/roborio/aos")),
       gyro_reading_fetcher_(
-          event_loop->MakeFetcher<frc971::sensors::GyroReading>(
+          event_loop_->MakeFetcher<frc971::sensors::GyroReading>(
               "/drivetrain")) {
   led::CANdleConfiguration config;
   config.statusLedOffWhenActive = true;
@@ -25,7 +26,7 @@
   config.brightnessScalar = 1.0;
   candle_.ConfigAllSettings(config, 0);
 
-  event_loop->AddPhasedLoop([&](int) { DecideColor(); },
+  event_loop_->AddPhasedLoop([&](int) { DecideColor(); },
                             std::chrono::milliseconds(20));
 }
 
@@ -89,7 +90,7 @@
   // If the imu gyro readings are not being sent/updated recently
   if (!gyro_reading_fetcher_.get() ||
       gyro_reading_fetcher_.context().monotonic_event_time <
-          event_loop->monotonic_now() - frc971::controls::kLoopFrequency) {
+          event_loop_->monotonic_now() - frc971::controls::kLoopFrequency * 10) {
     if (imu_flash_) {
       DisplayLed(255, 0, 0);
     } else {

y2022/control_loops/superstructure/led_indicator.h

diff --git a/y2022/control_loops/superstructure/led_indicator.h b/y2022/control_loops/superstructure/led_indicator.h
index 355592c..0f44788 100644
--- a/y2022/control_loops/superstructure/led_indicator.h
+++ b/y2022/control_loops/superstructure/led_indicator.h
@@ -50,7 +50,7 @@
 
   ctre::phoenix::led::CANdle candle_{0, ""};
 
-  aos::EventLoop *event_loop;
+  aos::EventLoop *event_loop_;
   aos::Fetcher<frc971::control_loops::drivetrain::Output>
       drivetrain_output_fetcher_;
   aos::Fetcher<Status> superstructure_status_fetcher_;