legop3/MultiRoombaRover
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gowuh

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legop3
2025-12-02 14:43:56 -05:00
parent 9bc5d2d06d
commit ace39d5a70
21 changed files with 238 additions and 18 deletions
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pi/roverd/cmd/roverd/main.go
+10 -1
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@@ -69,10 +69,19 @@ func main() {
defer cameraServo.Close()
}
var nightVision *roverd.NightVisionLight
if cfg.NightVision.Enabled {
nightVision, err = roverd.NewNightVisionLight(cfg.NightVision, logger)
if err != nil {
logger.Fatalf("init night vision: %v", err)
}
defer nightVision.Close()
}
autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
go autoCharge.Run(ctx, sensorSamples)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, logger)
client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, nightVision, logger)
retryDelay := time.Second
for ctx.Err() == nil {