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4 Commits
Author SHA1 Message Date
ruifeng.zhou 2ade94f196 Update fleet manual remote scaling 2026-07-15 14:01:46 +08:00
ruifeng.zhou c093fa32e6 Update multi-vehicle sync and crab walk docs 2026-06-29 16:00:34 +08:00
ruifeng.zhouandCursor d3abf0fb02 Fix fleet in-place rotation coordination 
- Gate rotate-mode compensation PI by active fleet omega and reset the
  integrator/timer when idle, so releasing the joystick stops the cars
  cleanly instead of drifting/self-rotating from a wound-up integral.
- Add conditional integration anti-windup in RotatePiTerm to reduce the
  startup overshoot after the initial relative-pose spike.
- Raise translational P gain for faster startup correction.
- Superimpose body-frame compensation onto swerve rotation and add
  MultiVehicleDbg / RotateDbg / RotatePoseDbg diagnostics.

Co-authored-by: Cursor <cursoragent@cursor.com>
 2026-06-28 19:09:24 +08:00
ruifeng.zhouandCursor 235c6c70ac Add Clumsy plugins and dual-vehicle fleet sync demo. 
Restructure into DiffWheel/MultiWheel folders, add DiffWheelC and MultiWheelC with MovementTests, FleetRemote multi-vehicle manual sync, deploy templates, and documentation. Update dependency paths to D:\MDCS\Release and mirror motor feedback in MotorRoutine for simulation.

Co-authored-by: Cursor <cursoragent@cursor.com>
 2026-06-28 15:04:55 +08:00