Testinggood first issueofflinerefactor
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- (6 étoiles)
- Métriques de merge PR
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Description
The code is old and very hard to read. Also we now have new features that could use teleop integrations.
- PID control for all the relevant axes (Yaw, Heave; pitch and roll don't need to be controlled)
- Optional world-relative control (surge/sway go relative to zero yaw, not current yaw)
- Teleop record/replay (should this be done at a lower level?)
- State machine integration (same as current, zeroing, resetting, soft stopping)
- New controller?
- Estop