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feat(controls): SaltyRover motor driver — 4-wheel independent speed control + skid steering #110

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opened 2026-03-02 08:28:06 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 08:28:06 -05:00
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Summary

Motor control for 4-wheel differential/skid-steer rover variant.

Requirements

  • 4-wheel control: Independent speed control for each wheel via ESC PWM or serial
  • Skid steering: Differential speed left/right pairs for turning
  • cmd_vel mapping: Convert Twist messages to 4-wheel speeds with proper kinematics
  • Variant flag: Compile-time or runtime switch between 2-wheel (SaltyLab) and 4-wheel (SaltyRover) mode
  • Shared interface: Same /cmd_vel topic input as SaltyLab for Nav2 compatibility
  • Encoder feedback: Optional wheel encoder reading for odometry (if motors have Hall sensors)
  • Safety: Same watchdog + tilt cutoff as SaltyLab, adapted for 4-wheel geometry

Agent: sl-controls

Labels: phase-3, saltyrover

## Summary Motor control for 4-wheel differential/skid-steer rover variant. ## Requirements - **4-wheel control**: Independent speed control for each wheel via ESC PWM or serial - **Skid steering**: Differential speed left/right pairs for turning - **cmd_vel mapping**: Convert Twist messages to 4-wheel speeds with proper kinematics - **Variant flag**: Compile-time or runtime switch between 2-wheel (SaltyLab) and 4-wheel (SaltyRover) mode - **Shared interface**: Same /cmd_vel topic input as SaltyLab for Nav2 compatibility - **Encoder feedback**: Optional wheel encoder reading for odometry (if motors have Hall sensors) - **Safety**: Same watchdog + tilt cutoff as SaltyLab, adapted for 4-wheel geometry ## Agent: sl-controls ## Labels: phase-3, saltyrover
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#110
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