Function executeMove

frontend/src/hooks/useBlockProgramExecution.tsx:125–367

(distance: number, direction: 'forward' | 'backward' = 'forward')

  // Execute move command with odometry feedback
  const executeMove = async (distance: number, direction: 'forward' | 'backward' = 'forward'): Promise<void> => {
    // Validate odometry before starting
    if (!isValidOdometry()) {
      throw new Error('Invalid odometry data - cannot execute movement');
    }
    
    const startPosition = { ...odometry.pose.pose.position };
    const baseVelocity = direction === 'forward' ? LINEAR_VELOCITY : -LINEAR_VELOCITY;
    const slowVelocity = direction === 'forward' ? LINEAR_VELOCITY_SLOW : -LINEAR_VELOCITY_SLOW;
    
    // Add minimum execution time to prevent immediate stops
    const minExecutionTime = Math.max(500, (distance / Math.abs(LINEAR_VELOCITY)) * 1000 * 0.8); // 80% of theoretical time
    const maxExecutionTime = (distance / Math.abs(LINEAR_VELOCITY)) * 1000 * 3; // 3x theoretical time as absolute max
    const startTime = Date.now();
    
    // Debug logging
    console.log('Starting move:', {
      distance,
      direction,
      startPosition,
      baseVelocity,
      minExecutionTime,
      maxExecutionTime
    });
    
    // Send initial command to wake up the robot
    console.log('Sending initial velocity command to wake robot...');
    publishVelocity({
      linear: new Vector3({ x: slowVelocity * 0.5, y: 0, z: 0 }),
      angular: new Vector3({ x: 0, y: 0, z: 0 })
    });
    
    // Wait a moment for robot to respond
    await new Promise(resolve => setTimeout(resolve, 100));
    
    // Log initial odometry state
    console.log('Initial odometry state:', {
      position: {
        x: odometry.pose.pose.position.x.toFixed(3),
        y: odometry.pose.pose.position.y.toFixed(3),
        z: odometry.pose.pose.position.z.toFixed(3)
      },
      orientation: {
        x: odometry.pose.pose.orientation.x.toFixed(3),
        y: odometry.pose.pose.orientation.y.toFixed(3),
        z: odometry.pose.pose.orientation.z.toFixed(3),
        w: odometry.pose.pose.orientation.w.toFixed(3)
      },
      twist: {
        linear: {
          x: odometry.twist.twist.linear.x.toFixed(3),
          y: odometry.twist.twist.linear.y.toFixed(3),
          z: odometry.twist.twist.linear.z.toFixed(3)
        }
      }
    });
    
    return new Promise((resolve, reject) => {