azmo/fori_zltech_motor_test
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Replace Xbox joystick control with RadioMaster Pocket + XR1 RC receiver

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Migrates the 4WD control input from SDL2/Xbox gamepad to a serial RC
receiver per doc/joystick.md's functional spec: CH1 steering, CH2
throttle, CH5 emergency brake (highest priority), CH7 speed mode
(0.3/0.6 m/s), with a 200ms fail-safe that forces an immediate stop
on signal loss. Channel mapping, deadzones, port, and baudrate are
all configurable via --rc_* CLI flags. LiDAR avoidance, jerk-limited
motion profile, and wheel-fault detection are unchanged.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
This commit is contained in:
robin
2026-08-19 12:44:51 +09:00
parent dd77dbf1bb
commit bb5a0adc0c
5 changed files with 461 additions and 116 deletions
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Makefile
+1 -1
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@@ -1,6 +1,6 @@
CXX = g++
CXXFLAGS = -O3 -std=c++17 -Wall -Wextra -I/usr/local/include
LIBS = -lSDL2 -lpthread -llivox_lidar_sdk_shared
LIBS = -lpthread -llivox_lidar_sdk_shared
TARGET = xbox_motor_control_cpp
SRC = xbox_motor_control.cpp