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	modified:   .gitignore
	modified:   README.md
	new file:   bashes/auto-wifi-connect.service
	new file:   bashes/auto-wifi-connect.sh
	deleted:    keyboard_control.py
	new file:   my_model/image.png
	new file:   path_follower_demo.py
	new file:   scripts/PIDtracking.py
	new file:   scripts/__pycache__/publish_sine_path.cpython-310.pyc
	new file:   scripts/publish_sine_path.py
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak
	new file:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2
	modified:   src/origincar_base/config/ekf.yaml
	new file:   src/origincar_base/config/ekf.yaml.bak
	modified:   src/origincar_base/launch/base_serial.launch.py
	new file:   src/origincar_base/launch/base_serial.launch.py.bak
	modified:   src/origincar_base/launch/origincar_bringup.launch.py
	new file:   src/past_control/CMakeLists.txt
	new file:   src/past_control/config/past_control.yaml
	new file:   src/past_control/include/past_control/tools.h
	new file:   src/past_control/launch/past_control.launch.py
	new file:   src/past_control/msg/Obstacle.msg
	new file:   src/past_control/msg/ObstacleArray.msg
	new file:   src/past_control/package.xml
	new file:   src/past_control/src/lane_follower_node.cpp
	new file:   src/past_control/src/obstacle_detector_node.cpp
	new file:   src/past_control/src/racing_orchestrator.cpp
	new file:   src/planner/CMakeLists.txt
	new file:   src/planner/config/planner.yaml
	new file:   src/planner/launch/planner.launch.py
	new file:   src/planner/package.xml
	new file:   src/planner/src/planner_version.cpp
	modified:   src/qr_detection/src/qr_dete_depth.cpp
	new file:   src/racing_control/CMakeLists.txt
	new file:   src/racing_control/include/racing_control/racing_control.hpp
	new file:   src/racing_control/package.xml
	new file:   src/racing_control/src/racing_control.cpp
	modified:   src/vlm_detect/setup.py
	new file:   src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/test_publisher.py
	new file:   src/vlm_detect/vlm_detect/tts_node.py
	modified:   src/vlm_detect/vlm_detect/vlm_node.py
	new file:   tools/measure_turning_radius.py
	new file:   tools/set_volume.py
	new file:   tools/udp_to_cmdvel.py
	new file:   tools/windows_keyboard_control.py
	new file:   vlm_server.py
	new file:   "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png"
	renamed:    "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"

src/past_control/config/past_control.yaml

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+# past_control — Racing control stack configuration
+# No a_star_planner_node: global planning handled by Nav2 planner_server via /plan
+
+# ============================================================
+#  lane_follower_node — Visual lane centering
+# ============================================================
+lane_follower_node:
+  ros__parameters:
+    follow_linear_speed: 0.3
+    follow_angular_ratio: 1.0
+    image_width: 640.0
+
+# ============================================================
+#  obstacle_detector_node — DNN-based obstacle perception
+# ============================================================
+obstacle_detector_node:
+  ros__parameters:
+    confidence_threshold: 0.5
+    processing_latency: 0.1
+    camera_hfov: 1.0472       # 60 degrees
+    camera_height: 0.3
+    camera_pitch: 0.0
+    max_detection_range: 3.0
+    publish_rate: 10.0
+
+# ============================================================
+#  racing_orchestrator — Task FSM + PID path following (Nav2 /plan) + arbitration
+# ============================================================
+racing_orchestrator:
+  ros__parameters:
+    # PID path following (path source: Nav2 planner_server /plan)
+    follow_linear_speed: 0.4
+    guide_step: 5
+    arrive_square: 0.25       # distance^2 threshold (0.5m)
+    angular_kp: 10.0
+    angular_ki: 0.0
+    angular_kd: 0.1
+    angular_integral_max: 1.0
+    angular_output_max: 2.0
+    angular_max_err: 3.14
+
+    # Obstacle avoidance fallback
+    avoid_linear_speed: 0.2
+    avoid_angular_z: 0.8
+
+    # QR scan mode
+    qr_scan_speed: 0.15
+    qr_scan_duration: 3.0
+
+    # Control loop rate
+    control_rate: 20.0