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thingswebuilt / osod24_firmware

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break up estimateState into smaller chunks #40

Closed robberwick closed 6 months ago

robberwick commented 6 months ago

refactor estimateState into smaller pieces, using helper methods. there's still a little way to go, by rationalising the State struct, which will help to clean things up a bit, but this is a good start for comment.

note that it is based on #38, so cannot be merged until that is.

markmellors commented 6 months ago

tested - driving works as before. Wheel speeds and steering still work, odometry related prints look sane.

markmellors commented 6 months ago

latest changes look good

markmellors commented 6 months ago

tested - driving works as before. Wheel speeds and steering still work. PID still needs tuning