There are two ways to control CPM vehicles, direct commands and trajectory commands.

Direct Command

See https://git.rwth-aachen.de/CPM/Project/Lab/cpm_base/blob/master/dds_idl/VehicleCommandDirect.idl

The direct command uses dimensionless, uncalibrated inputs and applies them directly to the motor and servo.

	motor_throttle	steering_servo
-1.0	Maximum reverse acceleration	Full right
0.0	Brake, stop	Steering roughly centered, but may have an offset
+1.0	Maximum forward acceleration	Full left

struct VehicleCommandDirect 
{
    octet vehicle_id; //@key
    Header header;
    double motor_throttle;  // dimensionless, in [-1, 1]
    double steering_servo;  // dimensionless, in [-1, 1]
};

Trajectory Command

asd

Vehicle Commands

Direct Command

Trajectory Command