Remove constants_fetcher from superstructure
Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I58a3e2977a09065dcf9c1eefcc36d1bf88a3224b
diff --git a/y2023_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2023_bot3/control_loops/drivetrain/drivetrain_main.cc
index 55c51aa..70499c8 100644
--- a/y2023_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -16,8 +16,6 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("aos_config.json");
- frc971::constants::WaitForConstants<y2023_bot3::Constants>(&config.message());
-
aos::ShmEventLoop event_loop(&config.message());
std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
localizer = std::make_unique<
diff --git a/y2023_bot3/control_loops/superstructure/superstructure.cc b/y2023_bot3/control_loops/superstructure/superstructure.cc
index 740f4a8..4bc6a5d 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure.cc
@@ -24,8 +24,7 @@
const ::std::string &name)
: frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
name),
- values_(values),
- constants_fetcher_(event_loop) {
+ values_(values) {
event_loop->SetRuntimeRealtimePriority(30);
}
diff --git a/y2023_bot3/control_loops/superstructure/superstructure.h b/y2023_bot3/control_loops/superstructure/superstructure.h
index 4b3d488..808ff3b 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.h
+++ b/y2023_bot3/control_loops/superstructure/superstructure.h
@@ -40,8 +40,6 @@
std::optional<double> LateralOffsetForTimeOfFlight(double reading);
std::shared_ptr<const constants::Values> values_;
- frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
-
EndEffector end_effector_;
aos::Alliance alliance_ = aos::Alliance::kInvalid;
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_main.cc b/y2023_bot3/control_loops/superstructure/superstructure_main.cc
index 1abfe88..1d0ec5a 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_main.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure_main.cc
@@ -12,8 +12,6 @@
::aos::ShmEventLoop event_loop(&config.message());
- frc971::constants::WaitForConstants<y2023_bot3::Constants>(&config.message());
-
std::shared_ptr<const y2023_bot3::constants::Values> values =
std::make_shared<const y2023_bot3::constants::Values>(
y2023_bot3::constants::MakeValues());