Improve atPose clarity, routine-active safety, alliance-flipping safety #982
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oh-yes-0-fps
reviewed
Dec 7, 2024
| }) | ||
| .orElse(false); | ||
| }); | ||
| public Trigger atPose(Optional<Pose2d> pose, double toleranceMeters, double toleranceRadians) { |
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Why is this an optional? seems kinda leaky of the underlying implementation.
| @@ -259,8 +259,48 @@ public static Supplier<Optional<Pose2d>> optionalFlipped( | |||
| * @return empty if the alliance is empty; the original pose if the alliance is blue; the flipped | |||
| * pose if the alliance is red | |||
| */ | |||
| public static Supplier<Optional<Pose2d>> optionalFlipped( | |||
| public static Supplier<Optional<Pose2d>> optionalFlippedPose2d( | |||
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All these optionals are confusing me
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Renamed atPose() triggers as atTranslation(), added new atPose() that requires rotation tolerance as well.
Fixed logic in those triggers that sampled an alliance-dependent pose too early
Made the triggers and(active()).