During practice, we added a hacky way to shoot to the side when using TX/TY for shots. We should do something a little more robust, or at least clean up the solution we have now.
For bonus points, find a way to have a generalized solution, where we can use the same shoot to side config for both MegaTag shots & TX/TY shots.
Right now the MegaTag based shoot to side works by shifting the speaker pose, which mainly affects the angle component of the DistanceAngle that is calculated. Perhaps we could refactor our shoot to side stuff to take a DistanceAngle as input, decide if it is too far to the side, and then adjusting that & returning another DistanceAngle? This would be nice since both TX/TY shots & MegaTag shots use DistanceAngle. Poses are only used in MegaTag shots.
During practice, we added a hacky way to shoot to the side when using TX/TY for shots. We should do something a little more robust, or at least clean up the solution we have now.
For bonus points, find a way to have a generalized solution, where we can use the same shoot to side config for both MegaTag shots & TX/TY shots.
Right now the MegaTag based shoot to side works by shifting the speaker pose, which mainly affects the angle component of the
DistanceAnglethat is calculated. Perhaps we could refactor our shoot to side stuff to take aDistanceAngleas input, decide if it is too far to the side, and then adjusting that & returning anotherDistanceAngle? This would be nice since both TX/TY shots & MegaTag shots use DistanceAngle. Poses are only used in MegaTag shots.