Initial Attempt

docs/rover_controller.md

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+# Rover Controller
+
+The RoverController creates a moving landing pad target.
+
+## Usage
+
+The rover controller is automatically included when running `controllers.py`:
+
+```bash
+# Stationary rover (default)
+python controllers.py
+
+# Moving rover
+python controllers.py --pattern circular --speed 0.3
+```
+
+### Options
+
+| Option | Short | Default | Description |
+|--------|-------|---------|-------------|
+| `--pattern` | `-p` | stationary | Movement pattern |
+| `--speed` | `-s` | 0.5 | Speed in m/s |
+| `--amplitude` | `-a` | 2.0 | Amplitude in meters |
+
+## Movement Patterns
+
+### Stationary
+```bash
+python controllers.py --pattern stationary
+```
+Rover stays at origin. Best for initial testing.
+
+### Linear
+```bash
+python controllers.py --pattern linear --speed 0.3 --amplitude 2.0
+```
+Oscillates along X-axis.
+
+### Circular
+```bash
+python controllers.py --pattern circular --speed 0.5 --amplitude 2.0
+```
+Follows circular path of radius `amplitude`.
+
+### Random
+```bash
+python controllers.py --pattern random --speed 0.3 --amplitude 2.0
+```
+Moves to random positions. Changes target every 3 seconds.
+
+### Square
+```bash
+python controllers.py --pattern square --speed 0.5 --amplitude 2.0
+```
+Square pattern with corners at `(±amplitude, ±amplitude)`.
+
+## Difficulty Levels
+
+| Level | Pattern | Speed | Description |
+|-------|---------|-------|-------------|
+| Beginner | stationary | 0.0 | Static target |
+| Easy | linear | 0.2 | Predictable 1D |
+| Medium | circular | 0.3 | Smooth 2D |
+| Hard | random | 0.3 | Unpredictable |
+| Expert | square | 0.5 | Sharp turns |
+
+## Progressive Testing
+
+Start easy and increase difficulty:
+
+```bash
+# Step 1: Static target
+python controllers.py --pattern stationary
+
+# Step 2: Slow linear motion
+python controllers.py --pattern linear --speed 0.2
+
+# Step 3: Slow circular motion
+python controllers.py --pattern circular --speed 0.2
+
+# Step 4: Faster circular
+python controllers.py --pattern circular --speed 0.4
+
+# Step 5: Random
+python controllers.py --pattern random --speed 0.3
+```
+
+## Published Topics
+
+| Topic | Type | Description |
+|-------|------|-------------|
+| `/rover/cmd_vel` | `Twist` | Velocity commands |
+| `/rover/position` | `Point` | Current position |
+| `/rover/telemetry` | `String` | Full state (JSON) |
+
+## GPS-Denied Note
+
+In GPS-denied mode, the drone cannot directly access rover position. Instead, it must detect the landing pad visually via `landing_pad` sensor data.
+
+The `/rover/telemetry` topic is used internally by the RoverController but the DroneController should primarily rely on vision-based `landing_pad` detection in the drone telemetry.