wip: post initial no-strafe slalom test

Author: Cowboylaserkittenjetshark

src/config/slalom.rs

@@ -10,6 +10,11 @@ pub struct Config {
     pub side: Side,
     pub centered_threshold: f32,
     pub dumb_strafe_secs: u64,
+    pub init_duration: f32,
+    pub strafe_duration: f32,
+    pub traversal_duration: f32,
+    pub yaw_adjustment: f32,
+    pub yaw_speed: f32,
 }
 
 impl Default for Config {
@@ -22,6 +27,11 @@ impl Default for Config {
             side: Side::Left,
             centered_threshold: 0.0,
             dumb_strafe_secs: 2,
+            init_duration: 1.0,
+            strafe_duration: 2.0,
+            traversal_duration: 6.0,
+            yaw_adjustment: 15.0,
+            yaw_speed: 0.2,
         }
     }
 }

src/main.rs

@@ -487,9 +487,16 @@ async fn run_mission(mission: &str, cancel: CancellationToken) -> Result<()> {
             .unwrap();
             Ok(())
         }
-        "slalom" => ctwrap!(slalom(
+        "slalom_left" => ctwrap!(slalom(
             static_context().await,
             &config.missions.slalom,
+            false,
+            &config.get_color_profile().unwrap()
+        )),
+        "slalom_right" => ctwrap!(slalom(
+            static_context().await,
+            &config.missions.slalom,
+            true,
             &config.get_color_profile().unwrap()
         )),
         "sonar" => {

src/missions/basic.rs

@@ -54,7 +54,7 @@ where
 
     // time in seconds that each action will wait until before continuing onto the next action.
     let dive_duration = 2.0;
-    let forward_duration = 2.0;
+    let forward_duration = 0.0;
     ActionSequence::new(
         WaitArm::new(context),
         ActionSequence::new(

src/missions/path_align.rs

@@ -41,7 +41,20 @@ pub async fn path_align_procedural<
     //     .stability_1_speed_set(config.speed, 0.1, 0.0, 0.0, 0.0, config.depth)
     //     .await;
     let _ = cb
-        .stability_2_speed_set(config.speed, config.forward_speed, 0.0, 0.0, initial_yaw, config.depth)
+        .stability_2_speed_set(0.0, 0.0, 0.0, 0.0, initial_yaw, config.depth)
+        .await;
+
+    sleep(Duration::from_secs(3)).await;
+
+    let _ = cb
+        .stability_2_speed_set(
+            config.speed,
+            config.forward_speed,
+            0.0,
+            0.0,
+            initial_yaw,
+            config.depth,
+        )
         .await;
 
     let mut last_set_yaw = initial_yaw;