controls algo setup - #1936

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Lucien950 wants to merge 35 commits into

Shayan/algo_set_up

Commits on Apr 20, 2026

base work for tire model done (pure slip).... will change for combined slip once coefficents are here.... testing TODO

shayana18
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Aditya-Dhiman4
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42cdbb8
algo in progress changes

shayana18
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Aditya-Dhiman4
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26f9b13
work in progress, most peices are there

shayana18
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Aditya-Dhiman4
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7cd32b8
logic is there now

shayana18
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Aditya-Dhiman4
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f5ef2f3
fahh

Lucien950
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Aditya-Dhiman4
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9bcb1ba
small changes

Lucien950
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Aditya-Dhiman4
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3600b82
a few more small changes

Lucien950
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80aa912
kms hours

Lucien950
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Aditya-Dhiman4
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1e509fe
rotations

Lucien950
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8e44ed2
edwin zheng forgot how to do rotation matrix

Lucien950
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13ced94
template metaprogramming masturbation

Lucien950
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c8a8020
W optimizer?

Lucien950
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ffb80cd
nuclearize

Lucien950
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4940e26
penis

Lucien950
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9471b20
name

Lucien950
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731d184
I didnt even know this was possible

Aditya-Dhiman4
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Lucien950
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479c14e
wow

Lucien950
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Aditya-Dhiman4
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3741ff9
L

Lucien950
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Aditya-Dhiman4
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a66fb4c
maybe everything is fucked idk man, love matlab

Lucien950
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Aditya-Dhiman4
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6baefc0
clean up matlab interface

Lucien950
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Aditya-Dhiman4
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ba10cbb
small mistake

Lucien950
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Aditya-Dhiman4
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32ceac5
matplotlib and others

Lucien950
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Aditya-Dhiman4
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f2d8942
fixed torque bounds plus multiplied speed request by gear ratio to make it a motor speed request
Aditya-Dhiman4
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2dd61e9
tweaks for ta

Lucien950
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Aditya-Dhiman4
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a182398
WORKS?S???????

Lucien950
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68b41ff
working optimizer

Lucien950
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6c91f74
torque allocator W

Lucien950
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Aditya-Dhiman4
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b95da94
working for floats as well now

Lucien950
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14cfe3f
better ig

Lucien950
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ba6f1a5
turning tests

Lucien950
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6a3cf82
consistent optimizer

Lucien950
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Aditya-Dhiman4
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3b10a21
Steering Model (#1949)
Aditya-Dhiman4
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2945824

Commits on Apr 26, 2026

6.2 implemented
shayana18
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da931f5

Commits on Apr 27, 2026

tire model :)
Lucien950
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1328739

Commits on Jun 7, 2026

Optimizer converges, Fz temporarily removed
Aditya-Dhiman4
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79d12c4