From 774255c130ba733b63f6b0a18c981d5c947ff9e1 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Sun, 22 Feb 2026 10:31:57 -0600 Subject: [PATCH] Add debug logging for planner mode/speed output Shows the actual locomotion mode and speed value being sent to the planner when the stick is active (not IDLE). Helps diagnose whether SLOW_WALK mode is being selected and speeds are in-distribution. Co-Authored-By: Claude Opus 4.6 --- .../include/input_interface/gamepad_manager.hpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp index c502f35..0cdd965 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp @@ -726,6 +726,12 @@ class GamepadManager : public InputInterface { } MovementState mode_state(final_mode, final_movement, final_facing_direction, final_speed, final_height); + if constexpr (DEBUG_LOGGING) { + if (final_mode != static_cast(LocomotionMode::IDLE)) { + std::cout << "[GamepadManager] -> Planner: mode=" << final_mode + << " speed=" << final_speed << " mag=" << planner_stick_magnitude_ << std::endl; + } + } movement_state_buffer.SetData(mode_state); } }