Fix goToAngle/goToRelative: bypass broken ReelTwo path#64
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thePunderWoman merged 1 commit intomainfrom Apr 21, 2026
Merged
Fix goToAngle/goToRelative: bypass broken ReelTwo path#64thePunderWoman merged 1 commit intomainfrom
thePunderWoman merged 1 commit intomainfrom
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The old implementation delegated to DomeDrive::domeStick() via DomePosition::kTarget mode. This had three bugs: 1. domeStick() only runs when a joystick is connected, so programmatic moves silently did nothing without a controller plugged in. 2. kTarget mode has a built-in 6-second idle delay (getDomeTargetMinDelay defaults to 6 s) before commanding the motor — we never configured it. 3. DomeDrive::moveDomeToTarget() uses the opposite sign convention from our encoder, driving the dome away from its target. Replace with a new kStateGoToAngle state that calls driveClosedLoop() directly — the same path already used by handleAbsoluteStick() and handleRandomMode(), which work correctly. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
goToAngle()andgoToRelative()were routing throughDomeDrive::domeStick()viaDomePosition::kTargetmode, which has three bugs for an encoder-based drivekStateGoToAnglestate that callsdriveClosedLoop()directly — the same closed-loop path already used by absolute-stick and random-wander modesRoot cause — three compounding bugs
domeStick()only executes when a controller is connected, so programmatic moves silently did nothing without one.kTargetmode waits forgetDomeTargetMinDelay()(default 6 s) before moving — we never configured this parameter.moveDomeToTarget()treats clockwise distance as negative speed, opposite to our encoder's convention, so the dome drove away from its target.Test plan
pio run)pio test -e native)dome=<angle>serial command drives to the correct positiongoToRelative(used by sequence moves) arrives at the right heading🤖 Generated with Claude Code