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Randy Mackay
9f876dc7a0
Throttle controller has these advantages over existing controller: based on velocity in vehicle's forward-back axis rather than ground-speed straight-forward PID controller using speed error as input speed control acceleration limts stop control slows vehicle smoothly configurable filtering Steer controller has these advantages over existing controller: output scaled properly for skid-steering vehicles layered P and PID controller for angular error and rate control configurable filtering