Remove unused ReelTwo DomePosition from roboclaw dome drive#65
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thePunderWoman merged 1 commit intomainfrom Apr 21, 2026
Merged
Remove unused ReelTwo DomePosition from roboclaw dome drive#65thePunderWoman merged 1 commit intomainfrom
thePunderWoman merged 1 commit intomainfrom
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… drive All autonomous dome behaviors (go-to-angle, random wander, absolute-stick) use our own closed-loop encoder path. DomePosition's kHome/kRandom/kTarget auto-modes were never entered and all their configuration was dead code. Removed: - DomePositionProvider inheritance and ready()/getAngle() virtual methods - fDomePos (DomePosition member) and fPreSequenceDefaultMode - All fDomePos.* calls in setup(), handleHoming(), startSequencePause(), endSequencePause(), disableAutoMode(), applyDomePositionParams() - Dead applyDomePositionParams() params: homeMinDelay, homeMaxDelay, speedHome, speedSeek (only fed fDomePos, never used by our logic) Preserved: - Min-speed deadband behavior, moved directly into sendMotorCommand() using the already-cached fAbsStickSpeedMin Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
DomePositionauto-modes (kHome,kRandom,kTarget) were never enteredDomePositionProviderinheritance and thefDomePosmember entirelyapplyDomePositionParams()that only ever fedfDomePossendMotorCommand()What was dead
DomePositionProviderinheritance +ready()/getAngle()fDomePos; nothing else called themfDomePos(DomePositionmember)kOff; none of kHome/kRandom/kTarget ever enteredfPreSequenceDefaultModekOffevery time — pure no-opapplyDomePositionParams()params:homeMinDelay,homeMaxDelay,speedHome,speedSeekfDomePos; never read by our logicfDomePos.*setter calls insetup(),handleHoming(),startSequencePause(),endSequencePause()Test plan
pio run) — RAM usage drops ~59 bytespio test -e native)dome=<angle>and relative sequence moves work (via Fix goToAngle/goToRelative: bypass broken ReelTwo path #64)🤖 Generated with Claude Code