robin
9f2ead2138
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>
22 lines
471 B
JSON
22 lines
471 B
JSON
{
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"Mid360s": {
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"lidar_net_info" : {
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"cmd_data_port" : 56100,
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"push_msg_port" : 56200,
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"point_data_port": 56300,
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"imu_data_port" : 56400,
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"log_data_port" : 56500
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},
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"host_net_info" : [
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{
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"host_ip" : "192.168.1.5",
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"cmd_data_port" : 56101,
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"push_msg_port" : 56201,
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"point_data_port": 56301,
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"imu_data_port" : 56401,
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"log_data_port" : 56501
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}
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]
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}
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}
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