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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/RoverDifferentialStatus.msg
+5 -2
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@@ -1,8 +1,11 @@
uint64 timestamp # time since system start (microseconds)
float32 actual_speed # [m/s] Actual forward speed of the rover
float32 desired_yaw_rate_deg_s # [deg/s] Desired yaw rate
float32 actual_yaw_deg # [deg] Actual yaw of the rover
float32 actual_yaw_rate_deg_s # [deg/s] Actual yaw rate of the rover
float32 pid_yaw_rate_integral # Integral of the PID for the desired yaw rate controller
float32 desired_yaw_rate_deg_s # [deg/s] Yaw rate setpoint for the closed loop yaw rate controller
float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
# TOPICS rover_differential_status