Vision LED in simulation

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:
+Vision:

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

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);

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 {
+
+}

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();
     }