slower head movement for defender #1876
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schluis
requested changes
Jul 3, 2025
| let maximum_movement = context.parameters.maximum_velocity | ||
| * context.cycle_time.last_cycle_duration.as_secs_f32(); | ||
| let maximum_movement = match context.world_state.robot.role { | ||
| types::roles::Role::DefenderLeft | types::roles::Role::DefenderRight => { |
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please import roles::Role instead of qualifying it here
knoellle
reviewed
Jul 5, 2025
| @@ -36,6 +37,7 @@ pub struct CycleContext { | |||
| cycle_time: Input<CycleTime, "cycle_time">, | |||
| has_ground_contact: Input<bool, "has_ground_contact">, | |||
| motion_selection: Input<MotionSelection, "motion_selection">, | |||
| world_state: Input<WorldState, "world_state">, | |||
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I don't like the practice of using the world state as an input outside of behavior, the interface is way too wide.
Currently only the look_at motion also does this, even though it only needs a ground to field.
You only need the role here, so use that directly.
In general, I think motion information should only be carried inside the MotionCommand, but that needs a larger refactor I think.
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Why? What?
make the defender look around slower too reduce the wobble from the look around motion
Fixes #1730
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
If there are some improvements that could be done in a next iteration, describe them here.
How to Test
look if the defender look around slower than the other rolles