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…ckermann to convert from acceleration to power/steer commands
Speed was converging to kp / (kd + kp) because the kd term was being calculated wrong
alyashour
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Nov 23, 2025
* Add controllers and implement PD Controller * Added ap1_msgs dependency and updated topic paths * Updated topic locations and message types according to pciv3. Needs ackermann to convert from acceleration to power/steer commands * Added ackermann controller, car config, and reduced ugliness by 52% * fix axes bug, add speed control * Fix 80% bug. Speed was converging to kp / (kd + kp) because the kd term was being calculated wrong * Vector hpp file made * PDController adjusted for vector class * IController adjusted * Control node adjuted * Ackermann controller done * Add clangd format * fix vector compile errors * mv control node -> control_node.cpp * update build script --------- Co-authored-by: Logan Ouellette <loganouellettetran@gmail.com>
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