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cliff improvements

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legop3
2026-02-27 00:43:45 -05:00
parent e9e75b65ef
commit 985a2f966a
2 changed files with 32 additions and 19 deletions
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server/src/services/chatService.js
+17 -9
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@@ -142,18 +142,26 @@ function buildRoverCtxSnapshot(roverId) {
(sensors?.bumpsAndWheelDrops?.bumpLeft ? 0.5 : 0) +
(sensors?.bumpsAndWheelDrops?.bumpRight ? 0.5 : 0);
const light = sensors?.lightBumper || {};
const contactState =
latestBumps >= 0.5
const contactState = docked
? 'clear'
: latestBumps >= 0.5
? 'bumps_recent'
: sensors?.wall || light.left || light.frontLeft || light.centerLeft || light.centerRight || light.frontRight || light.right
? 'wall_brush'
: 'clear';
const hazardState =
sensors?.virtualWall
: sensors?.wall ||
light.left ||
light.frontLeft ||
light.centerLeft ||
light.centerRight ||
light.frontRight ||
light.right
? 'wall_brush'
: 'clear';
const hazardState = docked
? 'normal'
: sensors?.virtualWall
? 'virtual_wall_seen'
: sensors?.cliffLeft || sensors?.cliffFrontLeft || sensors?.cliffFrontRight || sensors?.cliffRight
? 'cliff_alert'
: 'normal';
? 'cliff_alert'
: 'normal';
const mobilityState = wheelsOffGround ? 'wheels_off_ground' : 'normal';
const baseScore = Math.min(100, Math.round(Math.min(45, latestDistanceM * 25) + Math.min(30, latestTurnDeg / 12) + Math.min(25, latestBumps * 12)));
const activityScore = Math.max(