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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>
17 lines
302 B
Makefile
17 lines
302 B
Makefile
CXX = g++
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CXXFLAGS = -O3 -std=c++17 -Wall -Wextra -I/usr/local/include
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LIBS = -lpthread -llivox_lidar_sdk_shared
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TARGET = xbox_motor_control_cpp
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SRC = xbox_motor_control.cpp
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all: $(TARGET)
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$(TARGET): $(SRC)
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$(CXX) $(CXXFLAGS) $(SRC) -o $(TARGET) $(LIBS)
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clean:
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rm -f $(TARGET)
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.PHONY: all clean
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