forked from eros/curltastic
Replace constant-rate velocity rotate with ω0 spin + v_lat curl. Path samples are (x, y, theta); client time is index/SAMPLE_RATE_HZ. Ultraworked with [OhMyOpenCode](https://github.com/code-yeongyu/oh-my-opencode) Co-authored-by: Sisyphus <sisyphus@ohmyopencode>