# 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.