Remove DomeDrive inheritance — roboclaw dome drive is now self-contained#66
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thePunderWoman merged 1 commit intomainfrom Apr 21, 2026
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DomeDriveRoboClaw now inherits only AnimatedEvent + SetupEvent (the ReelTwo event-loop hooks) and has zero dependency on DomeDrive or any ReelTwo drive class. All dome movement logic — joystick drive, homing, calibration, go-to-angle, random wander, absolute-stick — lives entirely in this class. Changes: - Inherit SetupEvent + AnimatedEvent instead of DomeDrive - Replace DomeDrive::animate() call with new driveFromJoystick(), which implements the same joystick path (deadband, power curve, L2/R2 trigger boost, invert flag) without any DomeDrive machinery - Move fDomeStick, fMaxSpeed, fUseLeftStick, fInverted, fEnabled, fMoving into DomeDriveRoboClaw as owned members - Add setEnable/setInverted/setMaxSpeed/setUseLeftStick/isMoving directly; keep setScaling/setThrottleAccelerationScale/DecelerationScale as no-ops for call-site compatibility (acceleration smoothing is not implemented — dome motor inertia is sufficient in practice) - Remove motor() virtual override; driveFromJoystick() calls sendMotorCommand() directly - Remove DomeDrive::stop() call; stop() now just zeroes fMoving - Define DOME_RANDOM_MOVE_MIN_DEGREES in dome_drive_roboclaw.h (was in DomeDrive.h) - config.cpp: use auto* for domeDrive local to avoid DomeDrive base dependency Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
DomeDriveRoboClawno longer inherits fromDomeDrive. It inherits onlySetupEventandAnimatedEvent(the two ReelTwo event-loop hooks) and owns all its state directly.What changed
New
driveFromJoystick()replacesDomeDrive::animate()Implements the same joystick path that was buried inside
DomeDrive::domeStick():pow(..., 1.4)power curveOwned state (moved out of DomeDrive base)
fDomeStick,fMaxSpeed,fUseLeftStick,fInverted,fEnabled,fMovingCompatibility stubs
setScaling(),setThrottleAccelerationScale(),setThrottleDecelerationScale()kept as no-ops — they were already having no effect (setScaling(false)was being called at init).config.cppChanged
DomeDrive* domeDrivetoauto* domeDriveso each build deduces its own concrete drive type without needing a common base pointer.Test plan
pio run)pio test -e native)domeflip=1config inverts direction correctly🤖 Generated with Claude Code