add move

UCI-HyperXite · May 31, 2024 · bdd6c60 · bdd6c60
1 parent 6df7e6d
commit bdd6c60
Show file tree

Hide file tree

Showing 2 changed files with 19 additions and 19 deletions.
diff --git a/pod-operation/src/main.rs b/pod-operation/src/main.rs
@@ -55,7 +55,7 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 	tokio::spawn(demo::read_lidar(lidar));
 
 	let mut state_machine = StateMachine::new(io);
-	tokio::spawn(async {
+	tokio::spawn(async move {
 		state_machine.run().await;
 	});
 

diff --git a/pod-operation/src/state_machine.rs b/pod-operation/src/state_machine.rs
@@ -39,14 +39,14 @@ pub struct StateMachine {
 	enter_actions: EnumMap<State, fn(&mut Self)>,
 	state_transitions: EnumMap<State, Option<StateTransition>>,
 	io: SocketIo,
-	// brakes: Brakes,
-	// signal_light: SignalLight,
-	// wheel_encoder: WheelEncoder,
-	// //upstream_pressure_transducer: PressureTransducer,
-	// downstream_pressure_transducer: PressureTransducer,
-	// lim_temperature_port: LimTemperature,
-	// lim_temperature_starboard: LimTemperature,
-	// high_voltage_system: HighVoltageSystem,
+	brakes: Brakes,
+	signal_light: SignalLight,
+	wheel_encoder: WheelEncoder,
+	//upstream_pressure_transducer: PressureTransducer,
+	downstream_pressure_transducer: PressureTransducer,
+	lim_temperature_port: LimTemperature,
+	lim_temperature_starboard: LimTemperature,
+	high_voltage_system: HighVoltageSystem,
 	lidar: Lidar,
 }
 
@@ -94,16 +94,16 @@ impl StateMachine {
 			enter_actions,
 			state_transitions,
 			io,
-			// brakes: Brakes::new(),
-			// signal_light: SignalLight::new(),
-			// wheel_encoder: WheelEncoder::new(),
-			// //upstream_pressure_transducer: PressureTransducer::upstream(),
-			// downstream_pressure_transducer: PressureTransducer::downstream(),
-			// lim_temperature_port: LimTemperature::new(ads1x1x::SlaveAddr::Default),
-			// lim_temperature_starboard: LimTemperature::new(ads1x1x::SlaveAddr::Alternative(
-			// 	false, true,
-			// )),
-			// high_voltage_system: HighVoltageSystem::new(),
+			brakes: Brakes::new(),
+			signal_light: SignalLight::new(),
+			wheel_encoder: WheelEncoder::new(),
+			//upstream_pressure_transducer: PressureTransducer::upstream(),
+			downstream_pressure_transducer: PressureTransducer::downstream(),
+			lim_temperature_port: LimTemperature::new(ads1x1x::SlaveAddr::Default),
+			lim_temperature_starboard: LimTemperature::new(ads1x1x::SlaveAddr::Alternative(
+				false, true,
+			)),
+			high_voltage_system: HighVoltageSystem::new(),
 			lidar: Lidar::new(),
 		}
 	}