legop3/MultiRoombaRover
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chat history, better turn queue updates

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legop3
2026-01-15 02:55:46 -05:00
parent 23fe03ca54
commit 37927d82af
20 changed files with 585 additions and 36 deletions
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pi/roverd/cmd/roverd/main.go
+10 -1
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@@ -78,10 +78,19 @@ func main() {
defer nightVision.Close()
}
var irTx *roverd.IRTransmitter
if cfg.IR.Enabled {
irTx, err = roverd.NewIRTransmitter(cfg.IR, logger)
if err != nil {
logger.Fatalf("init ir tx: %v", err)
}
defer irTx.Close()
}
autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
go autoCharge.Run(ctx, sensorSamples)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, nightVision, logger)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, nightVision, irTx, logger)
retryDelay := time.Second
for ctx.Err() == nil {