Improved 3-wheel swerve steering limit using flip logic#97
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Signed-off-by: Sungho Woo <wsh@robotis.com>
Signed-off-by: Sungho Woo <wsh@robotis.com>
Signed-off-by: Sungho Woo <wsh@robotis.com>
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This pull request bumps the version of several packages to 1.3.2 and significantly refactors the ffw_swerve_drive_controller to enhance real-time safety and motion control. Key updates include the implementation of a '180° Rule' for smooth direction reversal via a state machine, the addition of velocity deadbands, and the use of pre-allocated vectors to avoid heap allocations in the update loop. Feedback points out a bug where the X-axis speed limiter was incorrectly used for the Y-axis and identifies a typo in a member variable name.
Signed-off-by: Sungho Woo <wsh@robotis.com>
Signed-off-by: Sungho Woo <wsh@robotis.com>
Signed-off-by: Sungho Woo <wsh@robotis.com>
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Summary
Fixed swerve steering sticking after long mobile use by using the steering flip so the wheels do not wind past ~360° and control stays usable.
Also: head can tilt 10° further down (limit adjusted).
Problem
Steering hit a max wrap (~±3 turns) and the robot could not be driven.
Fix
Flip steering when it would exceed a full rotation so motion stays continuous.
Extra
Head lower limit +10° for more downward range.