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 commits the ARM binary rebuilt on-device with this fix, per the
build-on-target convention for this branch.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
The committed xbox_motor_control_cpp binary is x86-64 and won't run
on Jetson's aarch64. run_4wd.sh only rebuilds when the binary is
missing, so removing it here lets the first run on the Jetson
compile a native ARM binary via `make`. Commit that binary back to
this branch after building on-device to keep an ARM build tracked
here, same as main tracks the x86 one.
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