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Updated arms::RELATIVE functionality | Implement movements based on vectors #103
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PROBLEM
For a long time now, the
arms::RELATIVE
flag has been used to move a relative distance/angle from the robot's CURRENT position. However, this can cause some problems if autonomous routes are made in the following manner:This seems like it would work. However, here are a couple real world examples that would cause it to fail.
Implemented Solution
Odometry will now store a
current_position
, as well as atarget_position
. All movement calls using thearms::RELATIVE
flag will be changed to use the odometry'starget_position
in their calculations for new target pose, contrary to how they currently use odometry'scurrent_position
. This will ensure that the issues listed above will no longer affect the script. In order to make sure the previous functionality is still available, a new flagarms::TRUE_RELATIVE
was made that uses the oldarms::RELATIVE
logic.