drv/wheel_control: add a per-wheel speed loop, brake to zero, and correct the v3 distance per count - #32

Merged

geonnave merged 19 commits into

DotBots:mainfrom

geonnave:wheel-control

Sep 25, 2026

Commits on Sep 23, 2026

drv/motors: rename set_speed to set_pwm and add coast
geonnave
committed
08021bd
drv/move: mark deprecated and state distance in millimetres
geonnave
committed
e906264
drv/geometry: state the units every driver uses
geonnave
committed
c0049f1
bsp/qdec: drop the debounce filter and read double transitions
geonnave
committed
948f97a
drv/wheel_control: add the per-wheel speed loop with a host test
geonnave
committed
1ed3bd0
drv/protocol: add the wheel velocity command
geonnave
committed
e798b5b
drv/wheel_control: integrate only inside an error zone
geonnave
committed
073cc40
drv/wheel_control: ramp the kick until a stalled wheel moves
geonnave
committed
9d9fa5e
drv/wheel_control: take the error from the mean of the last two speeds
geonnave
committed
8d42e22
drv/wheel_control: let the P term act while a wheel is stalled
geonnave
committed
b9427bb
drv/wheel_control: brake through the motor dead zone
geonnave
committed
205ba16
drv/motors: brake each motor on its own
geonnave
committed
5ee614b
drv/wheel_control: brake a wheel stopped by a zero setpoint
geonnave
committed
45efa83
drv/geometry: set the v3 wheel to 43 mm and 1430 counts per turn
geonnave
committed
445275c
drv/geometry: set the v3 gear ratio to 51 and drop the counts override
geonnave
committed
9d3f8b8

Commits on Sep 24, 2026