Improve outdoor traction control and raise top speed

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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>

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robin

2026-08-12 16:31:06 +09:00

parent 4fbe036427

commit 9f2ead2138

5 changed files with 1170 additions and 484 deletions

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xbox_motor_control.cpp

+1135 -476

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