Reset the angle when exceed the limitation of steering and Added the Deadzone

[Geonhee-LEE]

• 1. Reset the angle when exceed the limitation of steering (since AI worker has the [-2PI, 2PI] steering limitation)
• 2. Added the Deadzone to prevent oscillating for steering angles

video link: ai worker - Steering resetting when exceed the limitation

[gemini-code-assist]

Summary of Changes

Hello @Geonhee-LEE, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request enhances the swerve drive controller by addressing two key areas: improving steering stability and handling angle limitations. It introduces configurable deadbands for linear and angular velocities to prevent minor command fluctuations from causing continuous, oscillating movements. Additionally, it implements a robust mechanism to manage steering angles that exceed predefined operational limits, ensuring the robot can reset its steering and align itself correctly, particularly for AI-controlled workers with specific steering constraints.

Highlights

• Velocity Deadband Implementation: Introduced linear_vel_deadband_ and angular_vel_deadband_ parameters, along with logic to apply these deadbands to incoming command velocities. This prevents minor, noisy inputs from causing constant, unnecessary adjustments and reduces oscillation.
• Steering Angle Limit Handling: Added a mechanism to detect when the optimized steering angle exceeds the defined limits (e.g., [-2PI, 2PI]). When this occurs, the wheel's speed is set to zero, and the steering angle is adjusted by PI radians to bring it back within the valid range, initiating an 'alignment mode'.
• Steering Alignment Mode: Implemented an 'alignment mode' where the wheel stops and the steering angle is corrected to a target alignment angle. The system remains in this mode until the steering angle is within a specified tolerance, ensuring proper orientation before resuming normal operation.
• Code Simplification and Variable Removal: Removed the enabled_steering_angular_limit_ boolean variable and the enable_direct_joint_commands_ flag and its associated conditional block, simplifying the controller's state management and update logic.

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[Copilot]

Pull Request Overview

This PR implements steering angle safety controls and dead zone filtering for a swerve drive controller. It addresses steering angle limit violations and prevents oscillating behavior from small input commands.

Key changes:

• Added dead zone filtering for linear and angular velocity commands to prevent oscillation from small inputs
• Implemented steering angle limit checking with automatic reset when limits are exceeded
• Added alignment mode to handle steering corrections when angle limits are violated

Reviewed Changes

Copilot reviewed 2 out of 14 changed files in this pull request and generated 6 comments.

File	Description
swerve_drive_controller.cpp	Main implementation of deadzone filtering, steering limit checking, and alignment mode logic
swerve_drive_controller.hpp	Added member variables for deadzone parameters and alignment mode state

[gemini-code-assist]

Code Review

This pull request introduces a deadzone for velocity commands to prevent oscillation and adds logic to reset steering angles when they exceed their limits. The deadzone implementation is sound. However, the steering angle reset logic has a few issues. There's a critical bug where the target angle for alignment isn't stored, which would lead to incorrect behavior. Additionally, the steering velocity limits are bypassed during the alignment phase, which could cause sudden movements. I've also pointed out a couple of medium-severity issues regarding an uninitialized variable and a magic number. My review includes specific code suggestions to address these points.