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>
17 lines
309 B
Makefile
17 lines
309 B
Makefile
CXX = g++
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CXXFLAGS = -O3 -std=c++17 -Wall -Wextra -I/usr/local/include
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LIBS = -lSDL2 -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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