Eliminate turning deadzone#153
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Co-authored-by: Copilot <copilot@github.com>
Drive control working nicely again
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This should not be merged until #152 is tested and merged, as it builds on top of the changes there |
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When turning with tank steering, there is an angle at which the forward velocity from the linear component and the backwards velocity from the angular component (or vice versa for backwards turns) cancel each other out completely.
This results in the outer wheels spinning while the inner wheels stay still, making the rover prone to getting stuck.
This change introduces an additional layer after the tank steering calculation that checks if the pivot deadzone will occur, and if so add a small velocity to the inner wheels to reduce chances of getting stuck.