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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/RoverDifferentialSetpoint.msg
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uint64 timestamp # time since system start (microseconds)
float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
float32 yaw_rate_setpoint # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
float32 yaw_rate_setpoint_normalized # [-1, 1] Normalized yaw rate for the rover
float32 yaw_setpoint # [rad] Desired yaw (heading) for the rover
# TOPICS rover_differential_setpoint