|
|
779f9d00e2
|
feat: Encoder odometry and wheel speed feedback (Issue #632)
- TIM2 (32-bit) left encoder, TIM3 (16-bit) right encoder in mode 3
- RPM calculation with int16 clamp; 16-bit wrap handled via signed delta
- Differential-drive odometry: x/y/theta Euler-forward integration
- Flash config (sector 7, 0x0807FF00) for ticks_per_rev/wheel_diam/base
- JLINK_TLM_ODOM (0x8C) at 50 Hz: rpm_l/r, x_mm, y_mm, theta_cdeg, speed_mmps
- 75/75 unit tests passing (TEST_HOST build)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-03-15 16:34:38 -04:00 |
|
