Kenobi control modes#411
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chachmu
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Jun 17, 2026
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This PR updates
MotionExecutorto support multiple robot maneuvers as control modes that STP objects can request. It also sweeps through all of our STP objects to update them to use these new modes.The core changes here have been tested pretty well on real robots. Some of the specific plays / heading controllers have not been tested yet, but I think this is worth merging and then spot fixing things that need attention after. This at least unblocks more work in Kenobi to let people use / add robot maneuvers in our actual gameplay.