KickFSM and ChipFSM have identical implementation with the minor difference of some naming and AutoChipOrKickMode. We should combine both into a single implementation.
Some ideas for how we can achieve this:
Update the control params to take in either a chip direction + chip distance or a kick direction + kick speed. Based on which is passed, we could determine the value of AutoChipOrKickMode. This could be achieved using unions (look into AutoChipOrKickMode's implementation. This is more of a classic C approach), or a C++ std::variant.
Description of the task
KickFSMandChipFSMhave identical implementation with the minor difference of some naming andAutoChipOrKickMode. We should combine both into a single implementation.Some ideas for how we can achieve this:
AutoChipOrKickMode. This could be achieved usingunions (look intoAutoChipOrKickMode's implementation. This is more of a classic C approach), or a C++std::variant.Depending on the results, consider updating the
KickTacticandChipTacticas well.Note that the names of these FSMs may be changed once the on going new offense implementation is complete.
Acceptance criteria
kick_fsm_test.cppandchip_fsm_test.cpp