Improve outdoor traction control and raise top speed

Adds jerk-limited S-curve motion profiles, robust median-based
odometry to reject wheel-lift encoder spikes, per-wheel current-based
airborne/stall detection with pair-wise comparison to avoid false
positives during normal curve turns, curved-turn blending for spin
turns, and optional CSV telemetry logging. Fixes a bug where any
right-stick input while driving forward would override left-stick
curve steering. Raises max speed from 0.3 to 0.4 m/s.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>

run_4wd.sh

@@ -1,13 +1,13 @@
 #!/usr/bin/env bash
 
-# 1-Click Launch Script for C++ 4WD Motor Control
+# 1-Click Launch Script for C++ 4WD Motor Control with Mid-360S LiDAR Avoidance
 PORT="${1:-/dev/ttyUSB0}"
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
 cd "$SCRIPT_DIR" || exit 1
 
 echo "=================================================================="
-echo " 🚀 ZLAC8015D 4WD C++ 초저지연 모터 제어 원클릭 런치 시스템"
+echo " 🚀 ZLAC8015D 4WD + Livox Mid-360S 라이다 원클릭 런치 시스템"
 echo "=================================================================="
 
 # 1. USB Latency 1ms 단축
@@ -23,8 +23,14 @@ if [ ! -f "./xbox_motor_control_cpp" ]; then
 fi
 
 echo "=================================================================="
-echo " [시작] C++ 100Hz 초저지연 4WD 조이스틱 제어 시작 ($PORT)"
+echo " [시작] C++ 100Hz 초저지연 4WD 조이스틱 + 라이다 장애물 회피 시작 ($PORT)"
+echo "  - 라이다 기능 토글: Xbox 컨트롤러 X 버튼"
+echo "  - 정지/종료: B 버튼 또는 Ctrl+C"
 echo "=================================================================="
 
-# 3. C++ 4WD 프로그램 실행
-./xbox_motor_control_cpp --port "$PORT"
+# 3. C++ 4WD 프로그램 실행 (추가 인자 전달 가능)
+if [ $# -gt 1 ]; then
+    ./xbox_motor_control_cpp --port "$PORT" "${@:2}"
+else
+    ./xbox_motor_control_cpp --port "$PORT"
+fi