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- controller = MowerController(path_points, params)
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- controller.update_gps(pos_xy, heading, vel_xy, timestamp)
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- controller.update_imu(accel3, gyro3, timestamp)
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- controller.compute_control(timestamp) -> {'forward': int, 'turn': int, 'info': {...}}
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Y*c ól [ U5 U l [ U5 U l Ub [ U5 U l gg)zUpdate GPS-like measurements at ~10Hz.
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pos_xy: (x,y) in meters
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heading: radians
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vel_xy: (vx, vy) in m/s in global frame (optional)
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U RD S$.S.$ U S:¼ a S OS%n U [) U R$ S- [' S&[ U 5 S- 5 5 - n [! [# X°R$ - S- 5 5 n [' S[) SU 5 5 n Uu pï[ Xã-
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Xô-
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5 nSnU R* R- US SUS SUS SU R S SUS SUS SUS SU SU S S!U SSS SU R
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S'35 U R* R/ 5 SU S(U S).S.$ U R c SnOU( a XR -
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OSnU( a UO!U R ( a U R U- OSU l U R u p4U RI U R 5 u n n!n"[ U R S% S U-
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U R S% S U-
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5 n#U RJ ( dÚ U RL ( dÉ U RO 5 u n$n%U$b³ U%S*: a U$U RP ; a S+U l% U$U l) U R* R- US SUS SUS SU R S SU RT U$ S S SU RT U$ S S SU%S SU$ SU S S,U R
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S-35 U R* R/ 5 U RJ ( Gan U RT U RR u n&n'U&U-
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nU'U-
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n[ Xg5 n%U%U RV : a S.U l% S+U l& U R* R- US SUS SUS SU R S SU&S SU'S SU%S SU RR SU S S,U R
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S/35 U R* R/ 5 GO¤[ Xv5 n([ U(U R -
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5 n)U%S: a U%S- n*U R: SSU*- - - nOU R6 S0- n[ U)5 [8 - nSSSU-
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- - nUU- n[' U R: S- U5 nU R U)- S - n [! [# UU R< - S- 5 5 n [' S[) SU 5 5 n [! [# X°R$ - S- 5 5 n [' S[) SU 5 5 n U R* R- US SUS SUS SU R S SU&S SU'S SU%S SU RR SU S SU)S SU SU SUS SU R
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S13 5 U R* R/ 5 XÜS2U%U)US3.S.$ U RL ( Ga, U RY U RR 5 n+[ U+U R -
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5 n[ U5 U RZ : aÛ U RP R] U RR 5 S.U l& U R* R- US SUS SUS SU R S SU RT U RR S S SU RT U RR S S SU RR SU S SUS S4U R
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S535 U R* R/ 5 GOU R U- S - n [! [# X°R$ - S- 5 5 n [' S[) SU 5 5 n U R* R- US SUS SUS SU R S SU RT U RR S S SU RT U RR S S SU RR SU S SUS S!U SU R
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S635 U R* R/ 5 SU S7UU+S8.S.$ [ U RF 5 n,[ U 5 n-U R^ U R` U,- - S9[) U-S5 - -
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n.[' U R^ [) U Rb U.5 5 n/[ U 5 n0U Rd ( d U0U Rf : a S+U l2 U R* R- US SUS SUS SU R S SU!S SU"S SU0S SU Rh SU S S,U R
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S:35 U R* R/ 5 U Rd ( a U0U Rj : a S.U l2 U R* R- US SUS SUS SU R S SU!S SU"S SU0S SU Rh SU S S,U R
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S;35 U R* R/ 5 U Rm U/5 u u n1n2n3n4n5U4U l" [ U2U-
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U1U-
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5 n6[' S<[) SU U Rn - 5 5 n7U Rp * U7- U Rr - n8[ U6U8- 5 n[ UU R -
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5 nUS: a UU Rt -
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U- OSn9UU l: U =Rv UU- - sl; U =Rx U U- - sl< [' U Rz * [) U Rz U Rv 5 5 U l; [' U Rz * [) U Rz U Rx 5 5 U l< U R U- U R| U9- - U R~ U Rv - - U R U Rx - - n SS[ U35 U R - - - n:[ U5 n;SSU;U R - - - n[ U 5 n<SSU<U Rr - - - n=U:U- U=- S=- n>[) U:UU=5 n?SU>- S>U?- - n@U R6 U@- nU R U - S U R -
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U R - - U lD U R$ nA[' UA* [) UAU R 5 5 n U Rd ( a [ U"U-
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U!U-
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5 n6[' S<[) SU U Rn - 5 5 n7U Rp * U7- U Rr - n8[ U6U8- 5 n[ UU R -
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5 nU R U- n U R nU#U R : nBU#U R : nC[ U 5 U R S - : d [ U5 [8 S?- : aE U =R S - slI U R U R : a SU lI SU l; SU l< OSU lI U Rd ( d WB( aK [' S9[) SU#U R - 5 5 nDWC( a WD[' SU#U R - 5 - nDUWD- nWC( a/ US- n[ U 5 S@: d [ U5 [8 SA- : a US0- nU R
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U RB :X aÞ U Rd ( dÍ WB( a U R OU R S - nE[ U5 SB: a UWE: a U1U2pþ[ Xã-
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Xô-
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5 nU R* R- US SUS SUS SU R S SUS SUS SUS SU RD SU S SUS SCWES SU R
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SD35 U R* R/ 5 UEnU R WB( a SOS- nFUU RF -
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nGUFU- nHU =RF [' UH* [) UHUG5 5 - sl# U R
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:¼ a- [ U5 S9: a [ U 5 S>: a S+U l SSSS0S.$ Ub UO[ R " 5 nIU RF nJU1U2pþ[ Xã-
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5 nU R< S:w a$ [! [# WJU R< - S- 5 5 OSnK[' S[) SUK5 5 nKU R$ S:w a# [! [# X°R$ - S- 5 5 OSnL[' S[) SUL5 5 nLU R* R- WIS SUS SUS SU R S SUS SUS SUS SU RD SU S SUS SWK SUL SWJS SU R
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SG3 5 U R* R/ 5 U R< S:w a. [! [# U RF U R< - S- 5 5 OSn [' S[) SU 5 5 n U S:X Ga@ U R ( Gd. [ U5 SB: Ga U R< S:w a. [! [# U R U R< - S- 5 5 OSnMUMS:w aØ U1U2pþ[ Xã-
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Xô-
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5 nU R* R- WIS SUS SUS SU R S SUS SUS SUS SU RD SU S SUS SWM S[! [# X°R$ - S- 5 5 SU R S SU R
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SH3 5 U R* R/ 5 UMn U R U l# U R$ S:w a# [! [# X°R$ - S- 5 5 OSn [' S[) SU 5 5 n U R ( a SOSInNUNX44U R UUU RF U U1U24U3U#SJ.
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nOWInPU1U2pþ[ Xã-
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Xô-
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5 nU R* R- UPS SUS SUS SU R S SUS SUS SUS SU RD SU S SUS SU SU SU RF S SU R
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SUN SK3 5 U R* R/ 5 XÜUOS.$ )LztCompute forward and turn outputs mapped to [-100,100].
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Returns dict with keys: forward(int), turn(int), info(dict)
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r Ústatusrq )ÚforwardÚturnÚinfoNÚno_stategyé&1¬?r r rr rG ÚmovegÍÌÌÌÌÌô?éd iÿÿÿz.3fÚ,z,0.000,z,rotate_to_start
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Úrotate_to_start)rö rm Ú heading_errÚ dist_to_startÚaligngÙ?r r1 r/ r% r* r" z,moving_to_start
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Úmoving_to_start)rö rm r rÿ z,0,z,reached_start
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Ú reached_start)rö rm Ú advanced_idxr g©?z,align_at_start
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Úalign_at_start)rö rÿ r' Tz,0.000,0,0,0.000,z,enter_waypoint_approach
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Fz,reached_waypoint
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gffffffæ?z,approaching_waypoint
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Úapproaching_waypoint)rö Ú waypoint_distrÿ Ú target_speedz ,0,0,0.000,z,exit_waypoint_turn
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z,waypoint_turning
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Úwaypoint_turning)rö rÿ Útarget_headingr, z,enter_recovery
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z,exit_recovery
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rË gUUUUUUÕ?r g @g333333Ã?r9 g @z,0,0,z,enforce_min_speed
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g333333@r
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z ,pre_map
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z,force_min_forward
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Úrunning)
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rö rf rg Údesired_headingrÿ r\ Ú yawrate_cmdÚ target_xyÚpath_curvatureÚ
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final_distÚ
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)Prq rf rg Útimer_ rm rk rU r r r rá rr r® rA r rT Úroundr rÌ rÍ ry rz Úflushr< r> r? r$ r r@ r rN r= rl ro r\ ró rs rt r rw ru rP rH rÆ rJ Úaddr( r& r) rn rD rp rE rÝ r0 r! r2 r^ ra rb rc r r6 r7 r3 r4 r5 r] rF r- r. r8 rd re rC r r r+ rV )Qr{ r Údtr£ r¤ Ú start_pointr r r Údesired_heading_to_startÚheading_err_to_startr Ú turn_signalÚforward_signalÚtarget_xÚtarget_yÚ target_distÚ
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target_idxr rÿ Ú
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dist_ratioÚ speed_scaleÚbase_target_speedÚ heading_ratioÚ err_scaler Úpath_dxÚpath_dyÚdesired_start_headingÚheading_err_finalÚf_sigrª r© rí rî r rè r Ú
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waypoint_xÚ
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waypoint_yÚdesired_heading_to_waypointÚheading_err_to_waypointÚ speed_ratior
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Ú actual_speedrñ Úbase_lookaheadÚ lookaheadÚ dist_to_pathÚlxÚlyr rÔ rÒ Ú path_headingÚxte_normalizedÚxte_correctionÚ heading_err_dÚ
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curv_scaleÚheading_err_absÚxte_absÚ xte_scaleÚ
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geom_scaleÚ min_scaleÚ blend_scaler Ú in_slow_zoneÚin_final_approachÚ
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dist_scaleÚ dynamic_minr Ú speed_changeÚ
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max_changeÚlog_tÚ pre_map_speedÚpre_map_forwardÚ pre_map_turnÚ forced_signalrö rù r¦ sQ r Úcompute_controlÚ MowerController.compute_controlô s[ ð
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==Ø ¨!°hÀ
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Ð5KÑLÐ Là 88Ñ t||Ñ 3Ø ¨!°hÀ
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Ð5KÑLÐ Lð Ñ Ü Ið >>Ñ !ØBæ/8^^Ò+¸eBÞ&/ÈTÏ^Ï^°d·n±nÀrÒ6IÐadàxxð ::×.Ñ.Ô .Ø )) A,KØ Q !Ñ#BØ Q !Ñ#BÜ ! "MMô (-¨R£}Ð $Ü#-Ð.FÏ É Ñ.UÓ#VÐ ô 4 ×1Ñ1°T×5GÑ5GÑ5OØ%-Ô"ð ×!Ñ! XÔ-äÐ+Ó,°×0MÑ0MÓMØ)/DÕ&à"&§.¡.Ð3GÑ"GÈ#Ñ"MKÜ"%¤e¨[×;KÑ;KÑ-KÈsÑ,RÓ&SÓ"TKÜ"% d¬C°°[Ó,AÓ"BKØ%&Nà)4Ñ&HÜ"'¨© °h±lÓ"CKØ!"JØMM×'Ñ'¨9°S¨/¸¸1¸S¸'ÀÀ1ÀSÀ'ÈÈ4Ï<É<ÐX[ÐJ\Ð\]Ø+3°C¨.¸¸(À3¸ ÀqÈÐUXÐHYÐYZÐ[eÐZfð g1Ø1EÀcÐ0JÈ!ÈNÐK[Ð[\Ð]hÐ\iÐipÐqu×q{Ñq{Ðp|ð }Oð)Pô Qð MM×'Ñ'Ô)Ø'5Ø"3¸d¿j¹jÐYmØ)6ñUñ ð ð
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×!Ñ! VÔ+à":Ü (¨ ¸4¿<¹<Ñ)GÓ H ð !×#7Ñ#7Ó7Ø)0DÖ&ð %×'?Ñ'?Ó?Ø%2×5MÑ5MÑ%M
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Ø&)¨C°*Ñ,<Ñ&< Ø,0×,AÑ,AÀTÇ_Á_ÐW[×WlÑWlÑElÐpzÑDzÑ,zÑ)à&) Ü,/°·±À#Ñ0EÀsÓ,KÐ)ô %(¨ Ó$4´rÑ$9MØ # c¨S°=Ñ-@Ñ&AÑ AIÜ#& t×';Ñ';¸cÑ'AÐCTÐWbÑCbÐenÑCnÓ#oLÜ#& |°T×5IÑ5IÈCÑ5OÓ#PLà"&§.¡.°;Ñ">KÜ%(¬° ¸t×?SÑ?SÑ0SÐWZÑ/ZÓ)[Ó%\NÜ%(¨¬s°3¸Ó/GÓ%HNÜ"%¤e¨[×;KÑ;KÑ-KÈsÑ,RÓ&SÓ"TKÜ"% d¬C°°[Ó,AÓ"BKà)4Ñ&HÜ"'¨© °h±lÓ"CKØ!"JØMM×'Ñ'¨9°S¨/¸¸1¸S¸'ÀÀ1ÀSÀ'ÈÈ4Ï<É<ÐX[ÐJ\Ð\]Ø)1°#¨°a¸À°~ÀQÀ{ÐSVÐFWÐWXÐYcÐXdð e/Ø/:¸3Ð.?¸qÀ Ð@PÐPQÐR]ÐQ^Ð^_Ð`lÐmpÐ_qÐqrÐsw×s}Ñs}Ðr~ð Qð)Rô Sð MM×'Ñ'Ô)à'5Ø"3¸d¿j¹jÐ[hØ'2ñUñ ð ð ×!Ñ! WÔ,Ütyy> AÓ%Ø "ii¨l¨1o°· ± ¸!± ¸Q±Ñ ?GØ "ii¨l¨1o°· ± ¸!± ¸Q±Ñ ?GÜ,1°'¸7Ó,CÑ)à,/Ð)Ü$.Ð/DÀtÇ|Á|Ñ/SÓ$TÐ!ð "×$8Ñ$8Ô8¼sÐCTÓ?UÐX\×XtÑXtÔ?tØ!%×!7Ñ!7DJØ)-DÔ&à./DÔ+à)-×)=Ñ)=DÔ&ä ¤ t×';Ñ';¸d×>RÑ>RÑ'RÐVYÑ&YÓ ZÓ [EØ)-¯©°1© Ñ&HÜ"'¨© °h±lÓ"CKØ!"JØMM×'Ñ'¨9°S¨/¸¸1¸S¸'ÀÀ1ÀSÀ'ÈÈ4Ï<É<ÐX[ÐJ\Ð\]Ø+3°C¨.¸¸(À3¸ ÀqÈÐUXÐHYÐYZÐ[eÐZfð g1Ø1BÀ3Ð0GÀqÈÈÈsÐSW×SgÑSgÐhkÐRlÐlmÐnr×nxÑnxÐmyð zJð)Kô Lð MM×'Ñ'Ô)Ø',°aÈOÐfj×fpÑfpð CG÷ CZñ CZñ B[ñ \ð \ð !2°QÓ 61¸BDØ"&¬¨T×-=Ñ-=ÀÑ-CÄSÈÌsÐSdÓOeÐhkÑOkÓElÓ)mÑ"mKÜ"%¤e¨[×;KÑ;KÑ-KÈsÑ,RÓ&SÓ"TKÜ"% d¬C°°[Ó,AÓ"BKØ)4Ñ&HÜ"'¨© °h±lÓ"CKØ!"JØMM×'Ñ'¨9°S¨/¸¸1¸S¸'ÀÀ1ÀSÀ'ÈÈ4Ï<É<ÐX[ÐJ\Ð\]Ø+3°C¨.¸¸(À3¸ ÀqÈÐUXÐHYÐYZÐ[eÐZfð g1Ø1BÀ3Ð0GÀsÈ;È-ÐWXÐY^Ð_bÐXcÐcdÐei×eoÑeoÐdpð qBð)Cô Dð MM×'Ñ'Ô)Ø'(°+ÐRbð tEñ HFñ Gð Gð >>Ñ !ØBæ/8^^Ò+¸eBÞ&/ÈTÏ^Ï^°d·n±nÀrÒ6IÐadð xxØ "× 6Ñ 6°t·x±xÓ @ÑVVô 499 R=¨Ñ+¨aÑ/°·±¸2± ¸qÑ1AÀAÑ1EÓF
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ð ×*×*°4×3J×3Jà*.×*NÑ*NÓ*PÑ 'L-ð Ñ(Ø Ó#Ø D×$8Ñ$8Ó8Ø.2Ô+Ø0<Ô-Ø ×#Ñ# y° o°Q°q¸°g¸Q¸qÀ¸gÀQÀtÇ|Á|ÐTWÐFXÐXYØ'+×'9Ñ'9¸,Ñ'GÈÑ'JÈ3Ð&OÈqØ'+×'9Ñ'9¸,Ñ'GÈÑ'JÈ3Ð&OÈqØ'4°SÐ&9¸¸<¸.ÈØ'*¨3 iÐ/@ÀÇÁÀ ÐLfð %hô ið
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×#Ñ#Ô%ð × &× &Ð &Ø%)×%7Ñ%7¸×8UÑ8UÑ%VÑ "J
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Øa BØa BÜ ! "MMð t× ;Ñ ;Ó;à.3Ô+Ø*.Ô'Ø ×#Ñ# y° o°Q°q¸°g¸Q¸qÀ¸gÀQÀtÇ|Á|ÐTWÐFXÐXYØ'1°#Ð&6°a¸
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À3Ð7GÀqØ'4°SÐ&9¸¸4×;XÑ;XÐ:YÐYZØ'*¨3 iÐ/@ÀÇÁÀ ÐL_ð%aô bð ×#Ñ#Ö%ô /4°B«mÐ+Ü*4Ð5PÐSW×S_ÑS_Ñ5_Ó*`Ð'ð ! 3Ó&Ø"/°#Ñ"5KØ#'×#7Ñ#7¸3ÀÀ{ÑARÑ;RÑ#SLà#'§?¡?°SÑ#8Lô !$Ð$;Ó <¼rÑ A Ø #¨¨}Ñ)<Ñ"=Ñ = Ø +¨iÑ 7 Ü " 4×#7Ñ#7¸#Ñ#=¸|Ó L ð #nnÐ/FÑ FÈÑ L ä!$¤U¨L¸4×;OÑ;OÑ,OÐSVÑ+VÓ%WÓ!XÜ!$ T¬3¨s°NÓ+CÓ!DÜ !¤%¨×7GÑ7GÑ)GÈ3Ñ(NÓ"OÓ P Ü ! $¬¨C°Ó(=Ó > à ×#Ñ# y° o°Q°q¸°g¸Q¸qÀ¸gÀQÀtÇ|Á|ÐTWÐFXÐXYØ'1°#Ð&6°a¸
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À3Ð7GÀqØ'4°SÐ&9¸¸4×;XÑ;XÐ:YÐYZØ'*¨3 i¨qÐ1HÈÐ0MÈQÈ~ÐN^Ð^_Ð`kÐ_lÐlmÐnzÐ{~Ðmð @Að BF÷ BLñ BLð AMð Mdð%eô fð ×#Ñ#Ô%à#1Ø 4Ø%2Ø#:Ø$0ñ Qñ ð ð × "× "Ð "à !× AÑ AÀ$×B_ÑB_Ó `NÜ$ ^°d·l±lÑ%BÓCKô ;Ó $×"@Ñ"@Ó@à×$Ñ$×(Ñ(¨×)FÑ)FÔGØ*/Ô'Ø ×#Ñ# y° o°Q°q¸°g¸Q¸qÀ¸gÀQÀtÇ|Á|ÐTWÐFXÐXYØ'+×'9Ñ'9¸$×:WÑ:WÑ'XÐYZÑ'[Ð\_Ð&`Ð`aØ'+×'9Ñ'9¸$×:WÑ:WÑ'XÐYZÑ'[Ð\_Ð&`ð a-Ø-1×-JÑ-JÐ,KÈ1Ø'*¨3 i¨q°¸SÐ0AÀÈTÏZÉZÈLÐXmð %oô pð
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×#Ñ#Ö%ð #nn¨{Ñ :¸SÑ @ Ü !¤%¨×7GÑ7GÑ)GÈ3Ñ(NÓ"OÓ P Ü ! $¬¨C°Ó(=Ó > à ×#Ñ# y° o°Q°q¸°g¸Q¸qÀ¸gÀQÀtÇ|Á|ÐTWÐFXÐXYØ'+×'9Ñ'9¸$×:WÑ:WÑ'XÐYZÑ'[Ð\_Ð&`Ð`aØ'+×'9Ñ'9¸$×:WÑ:WÑ'XÐYZÑ'[Ð\_Ð&`ð a-Ø-1×-JÑ-JÐ,KÈ1Ø'*¨3 i¨q°¸SÐ0AÀÀ[ÀMÐQXÐY]×YcÑYcÐXdÐdwð %yô zð
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×#Ñ#Ô%à#$¨kØ 0Ø#.Ø&4ñDñ ð ô 4×-Ñ-Ó. Üc(ð ×+Ñ+¨d×.AÑ.AÀLÑ.PÑPÐSVÔY\Ð]dÐfiÓYjÑSjÑjÜ×*Ñ*¬C°×0BÑ0BÀNÓ,SÓT ô 3x Ø× × L°4×3EÑ3EÓ$EØ #DÔ Ø MM× Ñ 9¨S /°°1°S°'¸¸1¸S¸'ÀÀ4Ç<Á<ÐPSÐBTÐTUØ#)¨# ,¨a°°s¨|¸1¸\È#Ð<NÈaÐPT×PeÑPeÐOfÐfgØ#& s )Ð+<¸T¿Z¹Z¸LÐHYð![ô \ð MM× Ñ Ô !à × × ¨t×/FÑ/FÓ FØ $DÔ Ø MM× Ñ 9¨S /°°1°S°'¸¸1¸S¸'ÀÀ4Ç<Á<ÐPSÐBTÐTUØ#)¨# ,¨a°°s¨|¸1¸\È#Ð<NÈaÐPT×PeÑPeÐOfÐfgØ#& s )Ð+<¸T¿Z¹Z¸LÐHXð!Zô [ð MM× Ñ Ô !ð @D×?YÑ?YÐZcÓ?dÑ<R. -°Ø"/Ô ô R !V R¨!¡VÓ, ô T¤3 s¨C°$·,±,Ñ,>Ó#?Ó@Ø ** ~Ñ5¸×8KÑ8KÑKô % \°NÑ%BÓCÜ °4·<±<Ñ!?Ó@ ð GIÈ1Ãf t×'<Ñ'<Ñ<ÀÒBÐRS Ø +Ô ð × Ò ¨bÑ 0Ñ0Õ Ø bÑ Ü " D§L¡L =´#°d·l±lÀD×DXÑDXÓ2YÓ ZÔ ÜDLL=¬#¨d¯l©l¸D¿L¹LÓ*IÓJ ð ~~¨ Ñ3Ø×&Ñ&¨ Ñ6ñ7à×&Ñ&¨×)=Ñ)=Ñ=ñ>ð ll T§\¡\Ñ1ñ2 ð C¤# nÓ"5¸×8LÑ8LÑ"LÑ LÑM
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ô kÓ*Ø3 °4×3NÑ3NÑ!NÑNÑO ô c(Ø3 ¨4×+>Ñ+>Ñ!>Ñ>Ñ? ð ! 9Ñ,¨yÑ8¸gÑF
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Ñ* ö !Ø Ñ# Üs8d?¤c¨+Ó&6¼¸B¹Ó&>Ø CÑ'Lð ::×/Ñ/Ó /¸×8H×8HÞ3?$×/Ò/ÀT×EZÑEZÐ]`ÑE`KÜ;Ó #Ó%¨,¸Ó*DØ%'¨(Ü # H¡L°(±,Ó ? Ø ×#Ñ# y° o°Q°q¸°g¸Q¸qÀ¸gÀQÀtÇ|Á|ÐTWÐFXÐXYØ'/° n°A°h¸s°^À1À[ÐQTÐDUÐUVÐW[×WnÑWnÐVoÐopØ'*¨3 i¨q°¸SÐ0AÀØ'2°3Ð&7°q¸¿¹¸ ÐDXð%Zô [ð ×#Ñ#Ô%Ø * ð
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¦\c°sÑ;Ø# d×&8Ñ&8Ñ8 ØRZ
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Ø ×Òc : +¬s°:¸|Ó/LÓ MÑMÕð ::×.Ñ.Ó .Ü;Ó #Ó%Ø&*×&:Ñ&:Ð%:¸SÑ%@Ô"øä;Ó #Ó%¨d×.>×.>Ø&*×&:Ñ&:Ð%:¸SÑ%@Ô"Ø×!Ñ! AÓ%¬#¨kÓ*:¸SÓ*@Ø%(Ô"ð ×+Ñ+Ó +Ø DMØ ¨!°hÀ
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