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Author SHA1 Message Date
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
ruifeng.zhou e5aeae9c33 Initial tutorial project 2026-06-19 23:12:05 +08:00