Describe this pull request. Link to relevant GitHub issues, if any.
This PR, which builds upon ada_feeding#183, extends the TeleopSubcomponent as follows:
On mount and when the refresh button is clicked, has the teleop button re-tare the F/T sensor.
From the InfoModal, gives users the option to increase the F/T threshold (to 75N) and restore it (back to 1N).
Explain how this pull request was tested, including but not limited to the below checkmarks.
[x] Pull ada_feeding#183, re-build and source the workspace.
[x] Launch the system in real: python3 src/ada_feeding/start.py
[x] Load the teleop component, verify the F/T sensor re-tares and the correct controller is loaded:
[x] InfoModal
[x] Settings > Above Plate
[x] Click refresh, verify the same as above.
[x] InfoModal
[x] Settings > Above Plate
[x] In the InfoModal, increase the force threshold. Verify it actually increases.
[x] Unmount the teleop component. Verify the force threshold decreases. When you remount it, verify that the button that shows is to "increase" it, not "restore" it to the default.
[x] Increase it, then click the decrease button, verify it actually decreases.
[x] Increase it, then swap teleop modes. Verify it decreases.
[x] Teleop the robot to experience a force, verify that pressing the refresh button allows you to move out of it briefly step-by-step.
[x] Teleop the robot to experience a force, verify that increasing the force threshold lets you move out of it all-at-onces.
Before creating a pull request
[x] Format React code with npm run format
[N/A] Format Python code by running python3 -m black . in the top-level of this repository
[x] Thoroughly test your code's functionality, including unintended uses.
[x] Fully test the responsiveness of the feature as documented in the Responsiveness Testing Guidelines. If you deviate from those guidelines, document above why you deviated and what you did instead.
[x] Consider the user flow between states that this feature introduces, consider different situations that might occur for the user, and ensure that there is no way for the user to get stuck in a loop.
Before merging a pull request
[ ] Squash all your commits into one (or Squash and Merge)
Describe this pull request. Link to relevant GitHub issues, if any.
This PR, which builds upon
ada_feeding#183, extends theTeleopSubcomponentas follows:InfoModal, gives users the option to increase the F/T threshold (to 75N) and restore it (back to 1N).Explain how this pull request was tested, including but not limited to the below checkmarks.
ada_feeding#183, re-build and source the workspace.python3 src/ada_feeding/start.pyInfoModalSettings > Above PlateInfoModalSettings > Above PlateInfoModal, increase the force threshold. Verify it actually increases.Before creating a pull request
npm run formatpython3 -m black .in the top-level of this repositoryBefore merging a pull request
Squash and Merge)