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