Clean up the project architecture#10
Merged
Merged
Conversation
macmacal
requested changes
May 21, 2026
macmacal
left a comment
macmacal
left a comment
Contributor
There was a problem hiding this comment.
Very solid idea of extracting the servo publishing logic into an auxiliary class! Please address the following comments, and we should be able to merge it pretty fast. Also, please update the CHANGELOG.
macmacal
changed the title
macmacal
changed the title
macmacal
approved these changes
May 22, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Refactor the gamepad teleoperation implementation by separating input handling and command publishing into dedicated classes.
Motivation and context
This change improves code readability, maintainability, and prepares the teleop framework for future extension with multiple teleoperation devices.
How has this been tested?
On the real robot.
Checklist
Clickup task: 869d9prwc