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>

Makefile

@@ -1,6 +1,6 @@
 CXX = g++
-CXXFLAGS = -O3 -std=c++17 -Wall -Wextra
+CXXFLAGS = -O3 -std=c++17 -Wall -Wextra -I/usr/local/include
-LIBS = -lSDL2 -lpthread
+LIBS = -lSDL2 -lpthread -llivox_lidar_sdk_shared
 
 TARGET = xbox_motor_control_cpp
 SRC = xbox_motor_control.cpp
@@ -8,7 +8,7 @@ SRC = xbox_motor_control.cpp
 all: $(TARGET)
 
 $(TARGET): $(SRC)
-	$(CXX) $(CXXFLAGS) $(SRC) $(LIBS) -o $(TARGET)
+	$(CXX) $(CXXFLAGS) $(SRC) -o $(TARGET) $(LIBS)
 
 clean:
 	rm -f $(TARGET)

mid360s_config.json

@@ -0,0 +1,21 @@
+{
+  "Mid360s": {
+    "lidar_net_info" : {
+      "cmd_data_port"  : 56100,
+      "push_msg_port"  : 56200,
+      "point_data_port": 56300,
+      "imu_data_port"  : 56400,
+      "log_data_port"  : 56500
+    },
+    "host_net_info" : [
+      {
+        "host_ip"        : "192.168.1.5",
+        "cmd_data_port"  : 56101,
+        "push_msg_port"  : 56201,
+        "point_data_port": 56301,
+        "imu_data_port"  : 56401,
+        "log_data_port"  : 56501
+      }
+    ]
+  }
+}

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
+# 3. C++ 4WD 프로그램 실행 (추가 인자 전달 가능)
-./xbox_motor_control_cpp --port "$PORT"
+if [ $# -gt 1 ]; then
+    ./xbox_motor_control_cpp --port "$PORT" "${@:2}"
+else
+    ./xbox_motor_control_cpp --port "$PORT"
+fi