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feat: Integrate steering-hero mainline support #80

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feat: Integrate steering-hero mainline support #80

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fb9af16
feat: Integrate steering-hero mainline support
qzhhhi Jun 2, 2026
75e0c30
update after merge main
dwx5 Jun 4, 2026
178cc51
add yaw brake
dwx5 Jun 6, 2026
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161 changes: 0 additions & 161 deletions rmcs_ws/src/rmcs_bringup/config/mecanum-hero.yaml
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6 changes: 3 additions & 3 deletions rmcs_ws/src/rmcs_bringup/config/omni-infantry.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -53,9 +53,9 @@ yaw_velocity_pid_controller:
measurement: /gimbal/yaw/velocity_imu
setpoint: /gimbal/yaw/control_velocity
control: /gimbal/yaw/control_torque
kp: 40.0
ki: 0.001
kd: 0.01
kp: 4.4
ki: 0.00011
kd: 0.0011

pitch_angle_pid_controller:
ros__parameters:
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4 changes: 2 additions & 2 deletions rmcs_ws/src/rmcs_bringup/config/sentry.yaml
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Expand Up @@ -79,7 +79,7 @@ gimbal_controller:
bottom_yaw_angle_kp: 15.0
bottom_yaw_angle_ki: 0.0
bottom_yaw_angle_kd: 0.0
bottom_yaw_velocity_kp: 22.5
bottom_yaw_velocity_kp: 2.8125
bottom_yaw_velocity_ki: 0.0
bottom_yaw_velocity_kd: 0.0

Expand All @@ -92,7 +92,7 @@ gimbal_controller:

k_top_to_bottom: -1.0

bottom_yaw_viscous_ff_gain: 0.002495
bottom_yaw_viscous_ff_gain: 0.000311875
# bottom_yaw_coulomb_ff_gain: 0.457343
# bottom_yaw_coulomb_ff_tanh_gain: 100.0
top_yaw_viscous_ff_gain: 0.231
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