Needs attention. For 'RS' and 'MS' the speed should be in standard units of m/s. For 'RS' it has to be in the Robot's coordinates and for 'MS' it should be the linear speed of the wheel along the axis perpendicular to the motor shaft.
We should clearly note that in 'DC' mode, velocity controllers are disabled and the values are directly set as PWM signal duty cycles for each motor.
Needs attention. For 'RS' and 'MS' the speed should be in standard units of m/s. For 'RS' it has to be in the Robot's coordinates and for 'MS' it should be the linear speed of the wheel along the axis perpendicular to the motor shaft. We should clearly note that in 'DC' mode, velocity controllers are disabled and the values are directly set as PWM signal duty cycles for each motor.
_Originally posted by @Veix123 in https://github.com/robotont/robotont-firmware/pull/18#discussion_r1501236685_