module_name: Differential Drive Control

parameters:
  - group: Rover Differential Drive
    definitions:
      RDD_WHEEL_BASE:
        description:
          short: Wheel base
          long: Distance from the center of the right wheel to the center of the left wheel
        type: float
        unit: m
        min: 0.001
        max: 100
        increment: 0.001
        decimal: 3
        default: 0.5
      RDD_WHEEL_RADIUS:
        description:
          short: Wheel radius
          long: Size of the wheel, half the diameter of the wheel
        type: float
        unit: m
        min: 0.001
        max: 100
        increment: 0.001
        decimal: 3
        default: 0.1
      RDD_SPEED_SCALE:
        description:
          short: Manual speed scale
        type: float
        min: 0
        max: 1.0
        increment: 0.01
        decimal: 2
        default: 1.0
      RDD_ANG_SCALE:
        description:
          short: Manual angular velocity scale
        type: float
        min: 0
        max: 1.0
        increment: 0.01
        decimal: 2
        default: 1.0
      RDD_WHL_SPEED:
        description:
          short: Maximum wheel speed
        type: float
        unit: rad/s
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 0.3
      RDD_P_HEADING:
        description:
          short: Proportional gain for heading controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 1.0
      RDD_P_SPEED:
        description:
          short: Proportional gain for speed controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 1.0
      RDD_I_SPEED:
        description:
          short: Integral gain for ground speed controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 0.0
      RDD_P_ANG_VEL:
        description:
          short: Proportional gain for angular velocity controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 1.0
      RDD_I_ANG_VEL:
        description:
          short: Integral gain for angular velocity controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 0.0
      RDD_MAX_JERK:
        description:
          short: Maximum jerk
          long: Limit for forwards acc/deceleration change.
        type: float
        unit: m/s^3
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 0.5
      RDD_MAX_ACCEL:
        description:
          short: Maximum acceleration
          long: Maximum acceleration is used to limit the acceleration of the rover
        type: float
        unit: m/s^2
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 0.5