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pi side servo stuff

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legop3
2025-11-17 18:18:46 -05:00
parent ab15ce7e17
commit 9b552fb857
10 changed files with 309 additions and 11 deletions
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pi/roverd/cmd/roverd/main.go
+10 -1
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@@ -60,10 +60,19 @@ func main() {
mediaSupervisor.Start(ctx)
}
var cameraServo *roverd.CameraServo
if cfg.CameraServo.Enabled {
cameraServo, err = roverd.NewCameraServo(cfg.CameraServo, logger)
if err != nil {
logger.Fatalf("init camera servo: %v", err)
}
defer cameraServo.Close()
}
autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
go autoCharge.Run(ctx, sensorSamples)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, logger)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, logger)
retryDelay := time.Second
for ctx.Err() == nil {