Motion Stack Refactor #374
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chachmu
approved these changes
Oct 12, 2025
| double max_angular_velocity = 3.0; // rad/s | ||
| double max_angular_acceleration = 4.0; // rad/s^2 | ||
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| double max_allowed_turn_angle = M_PI / 4.0; // radians |
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This variable name that I wrote is not great, probably need to come up with something more descriptive of what it actually does
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Realistically, we'll likely never find a name that's fully descriptive on its own and a variable like this needs a doc comment to explain it.
In this instance, though, a lot of these options are going to change / disappear in the upcoming path planning rewrite, so...... this problem will solve itself. 🙃
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This PR centralizes our core motion stack, introducing the
MotionExecutorand motion intents.There should be minimal to no behavioral changes for the full system.