differential: seperate velocity control

2026-07-22 00:10:35 +08:00 · 2025-03-25 16:29:00 +01:00
parent b5f011a31f
commit 0ab9071606
13 changed files with 875 additions and 476 deletions
@@ -0,0 +1,5 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32[2] velocity_ned # 2-dimensional velocity setpoint in NED frame
+bool backwards	        # Flag for backwards driving
+float32 yaw		# [rad] [-pi,pi] from North. Optional, NAN if not set. (Exclusive with velocity_ned, the rover will turn on the spot to reach the yaw setpoint)