Safe crash #1825
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Safe crash #1825
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oleflb
requested changes
May 9, 2025
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| if (position.right_knee_pitch <= 90.0_f32.to_radians() | ||
| || position.left_knee_pitch <= 90.0_f32.to_radians()) | ||
| && (position.left_hip_pitch >= -40.0_f32.to_radians() | ||
| || position.right_hip_pitch >= -40.0_f32.to_radians()) | ||
| && inertial_measurement_unit.accelerometer.z < -8.0 |
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can you extract this to a variable with a name like is_... to properly name what you want to check here
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| sit_down_interpolator.advance_by( | ||
| loop_duration, | ||
| &ConditionInput { | ||
| filtered_angular_velocity: Vector3::zeros(), | ||
| ground_contact: true, | ||
| fall_state: FallState::Upright, | ||
| }, | ||
| ); | ||
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| let sit_down_joints_command = MotorCommands { | ||
| positions: sit_down_interpolator.value(), | ||
| stiffnesses: Joints::fill(0.8), | ||
| }; | ||
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| send_sit_down( | ||
| &mut writer, | ||
| sit_down_joints_command.positions, | ||
| sit_down_joints_command.stiffnesses, | ||
| ) | ||
| .wrap_err("failed to send sit down command to LoLA")?; | ||
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| if sit_down_interpolator.is_finished() { | ||
| operation_state = OperationState::GuestsInControl; | ||
| sit_down_interpolator.reset(); | ||
| } | ||
| } else if !connections | ||
| .values() | ||
| .any(|connection| connection.is_sending_control_frames) | ||
| { | ||
| let battery = self.shared_state.lock().unwrap().battery; | ||
| send_idle(&mut writer, battery).wrap_err( | ||
| let shared_state = self.shared_state.lock().unwrap(); | ||
| if let (Some(position), Some(inertial_measurement_unit)) = ( | ||
| shared_state.position, | ||
| shared_state.inertial_measurement_unit, | ||
| ) { | ||
| if (position.right_knee_pitch <= 90.0_f32.to_radians() | ||
| || position.left_knee_pitch <= 90.0_f32.to_radians()) | ||
| && (position.left_hip_pitch >= -40.0_f32.to_radians() | ||
| || position.right_hip_pitch >= -40.0_f32.to_radians()) | ||
| && inertial_measurement_unit.accelerometer.z < -8.0 | ||
| { | ||
| operation_state = OperationState::SittingDown; | ||
| } | ||
| } | ||
| send_idle(&mut writer, shared_state.battery).wrap_err( | ||
| "a shadowy flight into the dangerous world of a man who does not exist", | ||
| )?; | ||
| } |
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I think the function is getting really long, can you split it up into smaller sub-tasks?
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| #[derive(Deserialize, Serialize)] | ||
| pub struct SitDown {} | ||
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| pub fn sit_down() -> bool { | ||
| interpolator: MotionFile::from_path(paths.motions.join("sit_down.json"))?.try_into()?, | ||
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| let last_cycle_duration = context.cycle_time.last_cycle_duration; | ||
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| self.interpolator | ||
| .advance_by(last_cycle_duration, context.condition_input); | ||
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| context.motion_safe_exits[MotionType::SitDown] = self.interpolator.is_finished(); | ||
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| Ok(MainOutputs { | ||
| sit_down_joints_command: MotorCommands { | ||
| positions: self.interpolator.value(), | ||
| stiffnesses: Joints::fill(0.8), | ||
| } | ||
| .into(), | ||
| }) | ||
| } |
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What is this? Added accidentally?
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