Crate sesh_stdlib

Structs§

PidState: Real PID Controller state and algorithm
StdlibModule: Built-in Standard Library Modules in Sesh (Documentation & API metadata)

diff_drive_ik: Differential Drive Kinematic Inverse Solver Given desired linear velocity linear_v (m/s) and angular velocity angular_w (rad/s), returns left and right wheel PWM speeds (-100 to 100 %).
ekf_update: 1D Extended Kalman Filter (EKF) state estimation step
feedforward_pid: Feed-Forward + PID Controller for high-speed trajectory tracking
fuse_imu_gps: Sensor fusion combining IMU yaw angle with GPS geodetic coordinates
get_stdlib_module
haversine_distance: Geodetic Earth distance using Haversine formula (meters)
ik_3dof_arm: 3-DOF Analytical Inverse Kinematics solver for a planar/articulated robotic arm Computes joint angles (base_deg, shoulder_deg, elbow_deg) given target (x, y, z)
lidar_find_closest: Scan a 360-degree LiDAR point cloud array and return (min_distance, min_angle_deg)
lqr_compute: Linear Quadratic Regulator (LQR) feedback control calculation (-K * x)
pid_compute: Stateful PID calculation function for Sesh scripts with genuine damping & integral clamping
pure_pursuit: Pure Pursuit geometric path-tracking algorithm Returns (curvature_kappa, angular_velocity_w) given robot pose and target waypoint