robot: Reduce prematch status lights code nesting#430
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auscompgeek wants to merge 1 commit intomainfrom
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robot: Reduce prematch status lights code nesting#430auscompgeek wants to merge 1 commit intomainfrom
auscompgeek wants to merge 1 commit intomainfrom
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auscompgeek
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Jun 24, 2025
| else: | ||
| self.status_lights.rainbow() | ||
| else: | ||
| self.status_lights.no_auto() |
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This adds an additional no_auto call if we somehow have no starting pose. Unless we somehow commit a broken path or path name, this should be impossible. It's probably better to not gaslight the drive team into thinking the vision system is completely broken if it's actually our code though, if we somehow get into this impossible situation.
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The logic for the prematch status lights is a bit difficult to follow as it's so deeply nested, and not entirely self-documenting.
It's probably much easier to understand if a few of these are written like preconditions. So this splits out all the logic for the preflight status lights into a method named as such, and uses early returns rather than heavy nesting.