From 3a3f76d2e4f5f687f4d5c0a202948e8eaf7a5e2b Mon Sep 17 00:00:00 2001 From: James Ward Date: Tue, 25 Feb 2025 20:45:19 +1100 Subject: [PATCH] Turn off heading hold when climbing --- controllers/climber.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/controllers/climber.py b/controllers/climber.py index a94db4b7..800db4be 100644 --- a/controllers/climber.py +++ b/controllers/climber.py @@ -36,7 +36,7 @@ def deploying(self, initial_call) -> None: closest_cage_dist = dist closest_cage_position = cage_position - if closest_cage_dist > 1.0: + if closest_cage_dist > 0.5: self.heading_to_cage = math.atan2( closest_cage_position.y - robot_position.y, closest_cage_position.x - robot_position.x, @@ -45,7 +45,10 @@ def deploying(self, initial_call) -> None: @state(must_finish=True) def retracting(self) -> None: + self.chassis.stop_snapping() self.climber.go_to_retract() + if self.climber.is_retracted(): + self.done() def done(self) -> None: super().done()