Implement new prim exec logic using motion controllers#3760
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this is removed even thought is technically used now cause future changes will get rid of it
This was referenced Jun 4, 2026
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This reverts commit 1fe5a67.
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Andrewyx
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GrayHoang
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I'm excited to see the effects of this on the field
| return std::make_unique<TbotsProto::DirectControlPrimitive>(); | ||
| } | ||
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| void PrimitiveExecutor::sendLinearMotionToPlotJuggler(const Vector& target_local_velocity, |
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Should we move this to another pr? It feels out of place here.
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It was useful for debugging the new behaviour of the primitive executor, I feel like its useful. Perhaps will move it somewhere else later
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Resolve conflicts from master's UBC-Thunderbots#3760 (new prim-exec logic using motion controllers), UBC-Thunderbots#3769, and the field renames, which overlapped with this branch's own controller/prim-exec rework. Resolution: - Adopt master's UBC-Thunderbots#3760 implementation for primitive_executor, thunderloop, and the motion controllers (PositionController/OrientationController, non-templated PidController + pid_controller.cpp). Drops the branch's parallel close-PID / start_angle / stall-detection variant. - Take master's robot_constants field names (robot_trajectory_max_* ) and 2026 tuning values (trajectory speed 2.5, decel 2.0). - Take master's tbots_protobuf createAngularTrajectoryFromParams signature (uses params.start_angle()) and master's move_primitive.cpp. - Keep robot_localizer.cpp/.h as a standalone library for separate re-integration; removed the now-unused thunderloop -> robot_localizer dep. Verified building: proto translation, move_primitive, motion_control/..., robot_localizer, primitive_executor, thunderloop. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Description
This PR implements using the new motion controllers to get target velocities in the primitive executor. While the responsibility of getting target velocity shifts more to the motion controllers, most of the actual logic is the same with a few additions:
There are some necessary changes in this PR that are not in prim exec:
Testing Done
New test was made to check robot movement in straight line. There are still issues with too large of acceleration.
Resolved Issues
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue