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Runtime

Run binaries from the crate root so robot/config.json resolves correctly.

Autonomous

cargo run --bin autonomous

The autonomous binary loads config, configures logging, starts AutonomousRobot, launches the vision and base-driver operations, optionally starts LEDs, then asks:

Should I start (Y/N):

After confirmation, it reads vision snapshots, selects a target person by track ID, plans base-driver commands, and keeps running until Ctrl+C or shutdown. Empty vision context causes a stop command before the next loop iteration.

Manual

cargo run --bin manual

The manual binary loads config, configures logging, starts controller and base-driver operations, converts controller snapshots into drive intents, and runs until Ctrl+C or the configured b_button is active.

In real hardware mode, startup expects a detectable gamepad. In simulate mode, the runtime uses the fake gamepad implementation.

Logging And Exit

Both runtimes install a Ctrl+C handler and attempt to send a stop command to the base driver before joining operations. Logging behavior comes entirely from the config file.