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Steering PID controller for differential drive #616

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opened 2026-03-15 10:02:46 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-15 10:02:46 -04:00
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Implement a heading/steering PID controller that converts geometry_msgs/Twist angular.z commands into differential wheel speed offsets. Subscribe to /cmd_vel for target angular velocity, use IMU gyro Z for feedback. Output: left/right motor speed differential added to balance PID output. Anti-windup on integrator. Rate limiter to prevent sudden turns that destabilize balance. JLINK telemetry for steering: target_omega, actual_omega, differential_output. Unit tests with simulated turn scenarios.

Implement a heading/steering PID controller that converts geometry_msgs/Twist angular.z commands into differential wheel speed offsets. Subscribe to /cmd_vel for target angular velocity, use IMU gyro Z for feedback. Output: left/right motor speed differential added to balance PID output. Anti-windup on integrator. Rate limiter to prevent sudden turns that destabilize balance. JLINK telemetry for steering: target_omega, actual_omega, differential_output. Unit tests with simulated turn scenarios.
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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#616
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