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differential: update module (#23629)

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Improve the slow down effect and add support for speed change in mission mode.
Seperate code related to turning setpoints into motor commands into its own folder and refactor code.
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chfriedrich98
2024-08-29 15:27:08 +02:00
committed by GitHub
parent c86d44f831
commit f8188f0981
18 changed files with 615 additions and 338 deletions
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msg/RoverDifferentialGuidanceStatus.msg
-3
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@@ -1,10 +1,7 @@
uint64 timestamp # time since system start (microseconds)
float32 desired_speed # [m/s] Desired forward speed for the rover
float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
float32 heading_error_deg # [deg] Heading error of the pure pursuit controller
float32 pid_heading_integral # Integral of the PID for the desired yaw rate during missions
float32 pid_throttle_integral # Integral of the PID for the throttle during missions
uint8 state_machine # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
# TOPICS rover_differential_guidance_status