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