Refactor/pid to lqr#57

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antoinefischer wants to merge 16 commits intodevelopfrom

refactor/PID-to-LQR

Commits on Mar 21, 2026

add robot config to chassis subsystem

isa-9
authored and
TsarraG
committed
LQR logic implemented (untested)

antoinefischer
authored and
TsarraG
committed
Builds and runs, though axis is weird and turn input not implemented (spinning works though)

antoinefischer
authored and
TsarraG
committed
feat/testing turret logic (non-fonctional for now)

antoinefischer
authored and
TsarraG
committed
Turret LQR functional, but needs deadzone and overcorrects.

antoinefischer
authored and
TsarraG
committed
fixed yawn direction
TsarraG
committed
right values of tilt and pan
TsarraG
committed
change chassis simulated LQR to true LQR
TsarraG
committed
chore: added comments, removed old code commented
TsarraG
committed
test: lqr polymorphism

Anonnne
authored and
TsarraG
committed
feat: polymorphism implemented and tested
TsarraG
committed
fix: original version of openocd.cfg
TsarraG
committed

Commits on Apr 8, 2026

"Added Spin to Win directional offset"
antoinefischer
committed
Added gravity counterpush for pitch.
antoinefischer
committed

Commits on Apr 9, 2026