Steering angular velocity (omega) was scaled by the constant max
speed (max_v) instead of the actual current forward speed (v_x).
This decoupled turn tightness from throttle position: at low/medium
throttle, a moderate left-stick steering input already produced an
omega large enough to flip the inner wheel's commanded velocity
negative, causing the robot to spin/reverse/lurch forward instead of
smoothly curving. Scaling by abs(v_x) keeps turn radius proportional
to speed as intended, matching prior full-throttle behavior while
fixing the reversal at partial throttle.
Also drops the stale committed x86-64 binary (built before this fix,
so its behavior no longer matched source). Build fresh on an x86
machine via `make`; run_4wd.sh already rebuilds automatically when
the binary is missing.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Reads 0x20A5/0x20A6 error codes alongside existing feedback poll to
diagnose overcurrent/overload alarms, and adds rated/max current
query and max current write helpers.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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>
robin