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Fix potential issues around tasks starting #403

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Fix potential issues around tasks starting #403

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mxgrey
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@mxgrey mxgrey commented Feb 20, 2025

This PR fixes two potential issues that can come up around tasks starting:

  • Make the default threshold for charging the battery more reasonable. An exact 100.0% charge might never get reported by some batteries.
  • Direct tasks weren't triggering the _begin_next_task function of the TaskManager; instead they relied on the ROS timer to trigger it. Sometimes the ROS timer that periodically triggers _begin_next_task doesn't fire off for long periods of time, causing direct tasks to take inordinately long before they begin. With this PR, we always trigger _begin_next_task after a direct task request has been received.

@mxgrey mxgrey requested a review from xiyuoh February 20, 2025 13:41
xiyuoh
xiyuoh approved these changes Feb 24, 2025
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LGTM!

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@xiyuoh xiyuoh xiyuoh approved these changes

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