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differential: migrate state machine to velocity control

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chfriedrich98
2025-04-29 13:11:16 +02:00
committed by chfriedrich98
parent ca01d9e37c
commit 39fa8b5550
5 changed files with 81 additions and 158 deletions
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5
msg/DifferentialVelocitySetpoint.msg
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@@ -1,5 +1,4 @@
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)
float32 speed # [m/s] [-inf, inf] Speed setpoint (Backwards driving if negative)
float32 bearing # [rad] [-pi,pi] from North.