Proposal 0007: Motion Filters#12
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Add declarative filter pipelines for actuator commands: - Filter behaviour for composable transformations - Inline filters and reusable pipelines via DSL - Common implementations: smoothing, velocity/accel limits, deadband - Simplifies teleop by moving smoothing to actuator layer - Applies uniformly to all command sources (teleop, autonomous, etc.) Addresses cross-cutting concern of motion characteristics that was previously handled inconsistently across the codebase.
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This proposal introduces declarative motion filter pipelines for actuator commands.
Summary
Motion filters provide composable transformations (smoothing, velocity limiting, deadband, etc.) that apply to actuator commands before they reach hardware. They're configured in the robot DSL either as inline filters or reusable named pipelines.
Key Features
Impact
This significantly simplifies teleop (and other command sources) by moving motion smoothing and safety limiting to the actuator layer where it applies uniformly regardless of command source.
Open Questions
Several design questions listed in the proposal around parameter support, runtime switching, and multi-dimensional smoothing.
Ready for discussion and feedback!