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RoboJackets · Mar 1, 2024 · 521a84f · 521a84f
1 parent 50e7f4f
commit 521a84f
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Showing 2 changed files with 1 addition and 16 deletions.
diff --git a/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp b/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp
@@ -67,20 +67,6 @@ Trajectory LineKickPathPlanner::initial(const PlanRequest& plan_request) {
 
     LinearMotionInstant target{ball_position - offset_from_ball};
 
-
-    // if ((ball_position - plan_request.start.pose.position()).mag() < distance_from_ball) {
-    //     SPDLOG_INFO("HELLO!");
-
-    //     rj_geometry::Point clear_point_{0.0, 4.5};
-    //     planning::LinearMotionInstant target_instant{clear_point_};
-    //     auto pivot_cmd = planning::MotionCommand{"pivot"};
-    //     pivot_cmd.target = target_instant;
-    //     pivot_cmd.pivot_point = ball.position;
-    //     modified_request.motion_command = pivot_cmd;
-    //     modified_request.dribbler_speed = 255.0;
-
-    //     return pivot_planner_.plan(modified_request);
-    // }
     MotionCommand modified_command{"path_target", target,
                                    FacePoint{plan_request.motion_command.target.position}};
     modified_request.motion_command = modified_command;
@@ -110,7 +96,7 @@ Trajectory LineKickPathPlanner::final(const PlanRequest& plan_request) {
 void LineKickPathPlanner::process_state_transition() {
     // Let PathTarget decide when the first stage is done
     // Possible problem: can PathTarget get stuck and loop infinitely?
-    if (current_state_ == INITIAL_APPROACH && (path_target_.is_done())) {
+    if (current_state_ == INITIAL_APPROACH && path_target_.is_done()) {
         pivot_planner_.reset();
         current_state_ = FINAL_APPROACH;
     }

diff --git a/soccer/src/soccer/planning/planner/settle_path_planner.cpp b/soccer/src/soccer/planning/planner/settle_path_planner.cpp
@@ -467,7 +467,6 @@ Trajectory SettlePathPlanner::dampen(const PlanRequest& plan_request, RobotInsta
     dampen_end.set_debug_text("Damping");
 
     if (!previous_.empty()) {
-        SPDLOG_INFO("stamp {} {}",previous_.last().stamp.time_since_epoch().count(), dampen_end.first().stamp.time_since_epoch().count());
         dampen_end = Trajectory(previous_, dampen_end);
     }