From 837107bef78df5725cc2b3a8e297e1786cce4843 Mon Sep 17 00:00:00 2001
From: Colin Reeder <vpzomtrrfrt@gmail.com>
Date: Sat, 15 Oct 2016 13:59:54 -0600
Subject: [PATCH 1/2] Fix desktop

---
 config/simulation.yml                                  | 4 ++--
 desktop/src/main/java/org/teamtators/rotator/Main.java | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/config/simulation.yml b/config/simulation.yml
index a25f514..95e0662 100644
--- a/config/simulation.yml
+++ b/config/simulation.yml
@@ -35,7 +35,7 @@ Turret:
     inputSamplesToAverage: 16
     P: 0.025
     I: 0.025
-    maxI: 10.0
+    maxIError: 10.0
     F: 0.004
     minOutput: 0.0
     target: { within: 1.0 }
@@ -67,4 +67,4 @@ Turret:
     D: 0
     maxAbsoluteOutput: 0.75
     target: { within: .5, stop: true }
-Vision:
\ No newline at end of file
+Vision:
diff --git a/desktop/src/main/java/org/teamtators/rotator/Main.java b/desktop/src/main/java/org/teamtators/rotator/Main.java
index 61f3291..f559472 100644
--- a/desktop/src/main/java/org/teamtators/rotator/Main.java
+++ b/desktop/src/main/java/org/teamtators/rotator/Main.java
@@ -82,7 +82,7 @@ public void start() {
         logger.info("Opening window");
         simulationFrame.setVisible(true);
 
-        autoCommand = commandStore.getCommand("AutoInit");
+        autoCommand = commandStore.getCommand("AutoChooser");
         scheduler.registerStateListener(this);
 
         scheduler.enterState(RobotState.DISABLED);

From c61f47beb4f30389cbe3e126aa9d4f751e7f9f60 Mon Sep 17 00:00:00 2001
From: Colin Reeder <vpzomtrrfrt@gmail.com>
Date: Sat, 15 Oct 2016 15:17:15 -0600
Subject: [PATCH 2/2] Vision LED in simulation

---
 .../java/org/teamtators/rotator/DesktopModule.java   |  3 ++-
 .../rotator/subsystems/SimulationVision.java         | 10 ++++++++++
 .../org/teamtators/rotator/ui/SimulationDisplay.java | 12 ++++++++++++
 3 files changed, 24 insertions(+), 1 deletion(-)
 create mode 100644 desktop/src/main/java/org/teamtators/rotator/subsystems/SimulationVision.java

diff --git a/desktop/src/main/java/org/teamtators/rotator/DesktopModule.java b/desktop/src/main/java/org/teamtators/rotator/DesktopModule.java
index ca328ae..7664258 100644
--- a/desktop/src/main/java/org/teamtators/rotator/DesktopModule.java
+++ b/desktop/src/main/java/org/teamtators/rotator/DesktopModule.java
@@ -39,9 +39,10 @@ static AbstractTurret providesTurret(SimulationTurret turret) {
     }
 
     @Provides
+    @Singleton
     static AbstractVision providesVision(/*SimulationVision vision*/) {
 //        return vision;
-        return new NoopVision();
+        return new SimulationVision();
     }
 
     @Provides
diff --git a/desktop/src/main/java/org/teamtators/rotator/subsystems/SimulationVision.java b/desktop/src/main/java/org/teamtators/rotator/subsystems/SimulationVision.java
new file mode 100644
index 0000000..77e8176
--- /dev/null
+++ b/desktop/src/main/java/org/teamtators/rotator/subsystems/SimulationVision.java
@@ -0,0 +1,10 @@
+package org.teamtators.rotator.subsystems;
+
+import org.teamtators.rotator.subsystems.noop.NoopVision;
+
+import javax.inject.Singleton;
+
+@Singleton
+public class SimulationVision extends NoopVision {
+
+}
diff --git a/desktop/src/main/java/org/teamtators/rotator/ui/SimulationDisplay.java b/desktop/src/main/java/org/teamtators/rotator/ui/SimulationDisplay.java
index b9f3652..f1e8fc1 100644
--- a/desktop/src/main/java/org/teamtators/rotator/ui/SimulationDisplay.java
+++ b/desktop/src/main/java/org/teamtators/rotator/ui/SimulationDisplay.java
@@ -2,6 +2,7 @@
 
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.teamtators.rotator.subsystems.AbstractVision;
 import org.teamtators.rotator.subsystems.SimulationDrive;
 import org.teamtators.rotator.subsystems.SimulationPicker;
 
@@ -25,6 +26,7 @@ public class SimulationDisplay extends JPanel {
 
     private SimulationDrive drive;
     private SimulationPicker picker;
+    private AbstractVision vision;
 
     @Inject
     public SimulationDisplay() throws HeadlessException {
@@ -63,6 +65,11 @@ public void setPicker(SimulationPicker picker) {
         this.picker = picker;
     }
 
+    @Inject
+    public void setVision(AbstractVision vision) {
+        this.vision = vision;
+    }
+
     @Inject
     public void setDriverJoystick(WASDJoystick driverJoystick) {
         this.addKeyListener(driverJoystick);
@@ -129,6 +136,11 @@ public void paintComponent(Graphics g) {
         g2d.setStroke(new BasicStroke(2));
         g2d.draw(pickerRect);
 
+        if(vision.getLedState()) {
+            g2d.setColor(Color.GREEN);
+            g2d.fillOval((int)-width/2+20, -10, 20, 20);
+        }
+
         g2d.dispose();
     }