Remove SetupEvent/AnimatedEvent — dome drive is now a plain object#67
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thePunderWoman merged 1 commit intomainfrom Apr 21, 2026
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DomeDriveRoboClaw no longer inherits SetupEvent or AnimatedEvent. setup() and animate() are now called explicitly by AmidalaController, which is already in the ReelTwo event pool. This also fixes a subtle ordering bug: previously fDomeDrive.setup() was called before AmidalaController::setup() (members register before the class itself), so homing started with default config values. Now setup() is called explicitly at the end of the RoboClaw config block, after all parameters from EEPROM/config.txt have been applied. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
DomeDriveRoboClawno longer inheritsSetupEventorAnimatedEvent. It is a plain C++ class with no ReelTwo event-loop dependency.setup()andanimate()are called explicitly byAmidalaController, which is already in the ReelTwo event pool.Bonus fix: setup ordering bug
Previously,
fDomeDrive.setup()was called beforeAmidalaController::setup()because member objects register withSetupEventbefore the owning class does. This meant homing started with default config values (default QPPS, front offset, stall timeout, etc.) — the EEPROM/config.txt values were applied only after homing had already begun.Now
fDomeDrive.setup()is called explicitly at the end of the RoboClaw config block inAmidalaController::setup(), after all parameters are applied.What's left of ReelTwo in the dome drive
JoystickController— the hardware state struct for the PS controllerReelTwo.h— forDEBUG_PRINT/DEBUG_PRINTLNmacrosNeither is a structural dependency on the ReelTwo architecture.
Test plan
pio run)pio test -e native)🤖 Generated with Claude Code