Robot Localizer#3754
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nycrat
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May 30, 2026
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…rewyx/robot_localizer # Conflicts: # src/software/embedded/primitive_executor.cpp # src/software/embedded/primitive_executor.h # src/software/embedded/thunderloop.cpp # src/software/simulation/er_force_simulator.cpp # src/software/simulation/er_force_simulator.h
…rewyx/robot_localizer
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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…rewyx/robot_localizer
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Description
Completes the ported changes from #3716, and implements the robot localizer, its various interfaces, and completes refactoring on much of the thunderloop pipeline. Also sneaks in some QOL features to disable power/motor service when flashing to allow thunderloop to run without all connections.
Testing Done
Resolved Issues
Resolves #3725
Length Justification and Key Files to Review
thunderloop.cppprimitive_executor.cpprobot_localizer.cppReview 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