applepi-2067 / 2023_Robot

Code for 2067's 2023 Robot

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lock waist on facing absolute pose #140

Closed gordonbchen closed 1 year ago

gordonbchen commented 1 year ago

Description

Add code to continuously rotate the waist to face an absolute pose.

Type of change

[x] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[x] Bugfix (non-breaking change which fixes an issue, add DEF # above in description)
[ ] Environment change (changes to developer environment or CI configuration)
[ ] Documentation Update (if none of the other choices apply)

How Has This Been Tested?

Tested on the robot. Got waist to lock on pose while the robot was moving.

Author Checklist:

[x] I have performed a self-review of my code
[x] I have added 1-2 reviewers
[ ] I have @mentioned relevant non-reviewers as an FYI
[x] I have included a detailed description of my changes and their motivations