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feat(controls): SaltyTank track driver — skid steering + track speed control #122

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opened 2026-03-02 09:09:10 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:09:10 -05:00
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Summary

Motor control for tracked/tank variant with skid steering.

Requirements

  • Track control: Left/right track independent speed control via ESC
  • Skid steering: Differential track speed for turning, zero-radius turn support
  • cmd_vel mapping: Convert Twist to left/right track speeds with tank kinematics
  • Variant flag: Runtime switch between 2-wheel/4-wheel/tracked mode
  • Same /cmd_vel interface: Nav2 compatible, same topic as SaltyLab and SaltyRover
  • Track slip compensation: Adjust odometry for track slippage on different surfaces
  • Safety: Watchdog + emergency stop, adapted for tracked geometry

Agent: sl-controls

Labels: phase-3, saltytank

## Summary Motor control for tracked/tank variant with skid steering. ## Requirements - **Track control**: Left/right track independent speed control via ESC - **Skid steering**: Differential track speed for turning, zero-radius turn support - **cmd_vel mapping**: Convert Twist to left/right track speeds with tank kinematics - **Variant flag**: Runtime switch between 2-wheel/4-wheel/tracked mode - **Same /cmd_vel interface**: Nav2 compatible, same topic as SaltyLab and SaltyRover - **Track slip compensation**: Adjust odometry for track slippage on different surfaces - **Safety**: Watchdog + emergency stop, adapted for tracked geometry ## Agent: sl-controls ## Labels: phase-3, saltytank
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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#122
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