Updates camera and mocks

2024-03-07 14:01:09 +01:00
parent fae6171f93
commit 971418fce8
13 changed files with 170 additions and 64 deletions
@@ -16,16 +16,23 @@ def main():
    imu = IMU()
    hardware_interface = HardwareInterface()
    # shared_controller_state = SharedState()
-    controller_interface = WebsocketController() # shared_controller_state)
+    shared_controller_state = SharedState()
+    controller_interface = WebsocketController(shared_controller_state)

-    spot = Spot(kinematics, camera, imu, hardware_interface, controller_interface)
+    spot = Spot(
+        kinematics, 
+        camera, 
+        imu, 
+        hardware_interface, 
+        controller_interface, 
+        shared_controller_state
+    )

    spot.start()

    try:
        while True:
-            spot.run(shared_state.get_latest_state().__dict__)
-            time.sleep(1)
+            spot.run()
    except KeyboardInterrupt:
        spot.stop()