Add robot maneuvers to sim radio#412
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chachmu wants to merge 21 commits into
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nickwitten
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Jun 21, 2026
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Adds position/velocity maneuvers to the sim radio to emulate the on robot maneuvers. Everything seems to be working although a lot more testing is needed to be sure that everything is actually right.
There's a slight issue with the global position controller seemingly commanding accelerations slightly over the limit due to rounding/state estimation issues. This usually isn't a problem but when combined with the position p controller leads to enough of a difference between the requested velocities and the clamped velocities that the robot performance is degraded. For now I just set P to 0 and the trajectories seem good although now the robot will tend to be off by a few centimeters from the final position.