steering_task Namespace Reference

Classes
class	SteeringTask

Detailed Description

@file steering_task.py
@brief Outer-loop controller for closed-loop line following.

This module defines the SteeringTask class, which implements a finite state machine (FSM) to manage the outer-loop control for line following and waypoint navigation. The task reads sensor data from an IR array, computes motor velocity setpoints based on line position or heading error, and actuates the motors accordingly. It also handles lost-line scenarios and transitions between different control modes.