Update spike

spikes/lk_auto_charge/CMakeLists.txt

@@ -28,6 +28,7 @@ target_link_libraries(spike_lk_auto_charge
 	CoreI2C
 	IMUKit
 	BLEKit
+	BehaviorKit
 )
 
 target_link_custom_leka_targets(spike_lk_auto_charge)

spikes/lk_auto_charge/main.cpp

@@ -10,6 +10,7 @@
 #include "BLEServiceCommands.h"
 
 #include "BatteryKit.h"
+#include "BehaviorKit.h"
 #include "CoreBattery.h"
 #include "CoreI2C.h"
 #include "CoreLSM6DSOX.hpp"
@@ -24,6 +25,7 @@
 #include "LogKit.h"
 #include "MathUtils.h"
 #include "SealStrategy.h"
+#include "behaviors/AutochargeSeal.h"
 
 using namespace std::chrono;
 using namespace leka;
@@ -100,6 +102,10 @@ auto service_commands = BLEServiceCommands {};
 auto services		  = std::to_array<interface::BLEService *>({&service_commands});
 auto blekit			  = BLEKit {};
 
+auto behavior_autocharge_seal = behavior::AutochargeSeal {motors::left::motor, motors::right::motor, imukit};
+
+auto behavior_kit = BehaviorKit {event_loop};
+
 auto seal_strategy =
 	SealStrategy {event_loop, timeout, battery::cells, motors::left::motor, motors::right::motor, imukit};
 auto happy_toupie = HappyToupie {event_loop, timeout, battery::cells, motors::left::motor, motors::right::motor};
@@ -146,6 +152,11 @@ auto main() -> int
 	service_commands.onCommandsReceived([](std::span<uint8_t> _buffer) { runStrategy(_buffer[0]); });
 	blekit.init();
 
+	auto behaviors = std::to_array<interface::Behavior *>({&behavior_autocharge_seal});
+	behavior_kit.registerBehaviors(behaviors);
+
+	behavior_kit.start(behavior_id::autocharge_seal);
+
 	while (true) {
 		rtos::ThisThread::sleep_for(10min);
 	}