MRoboSub/mrobosub

Redo teleop

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#88 opened on Aug 23, 2025

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 (3 comments) (0 reactions) (2 assignees)Python (3 forks)auto 404
Testinggood first issueofflinerefactor

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Description

The code is old and very hard to read. Also we now have new features that could use teleop integrations.

  • PID control for all the relevant axes (Yaw, Heave; pitch and roll don't need to be controlled)
  • Optional world-relative control (surge/sway go relative to zero yaw, not current yaw)
  • Teleop record/replay (should this be done at a lower level?)
  • State machine integration (same as current, zeroing, resetting, soft stopping)
  • New controller?
  • Estop

Contributor guide

Research direction
Read the existing teleop code to understand current structure, then design a plan for the new teleop system focusing on PID control, world relative control, record/replay, state machine integration, and estop.
Tech stack
python
Domain
robotics
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Over 1 week
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
PythonGit
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
20