compAIR/compLIB
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Fix goToAngle with new odom

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This commit is contained in:
Konstantin Lampalzer 2022-06-09 22:44:26 +02:00
parent 80ed5e5bf9
commit 2c5f283a46
5 changed files with 71 additions and 62 deletions
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4
server_v2/include/Robot.hpp
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@ -34,9 +34,9 @@
#define ROBOT_GO_TO_DISTANCE_RATE_HZ 200
#define ROBOT_GO_TO_DISTANCE_ALPHA_P 2.0
#define ROBOT_GO_TO_DISTANCE_VELOCITY_P 4.0
#define ROBOT_GO_TO_DISTANCE_VELOCITY_P 10.0
#define ROBOT_GO_TO_DISTANCE_END_M 0.01 // stop approx 1 cm before target
#define ROBOT_GO_TO_DISTANCE_MIN_VEL 0.025
#define ROBOT_GO_TO_DISTANCE_MIN_VEL 0.075
#define ROBOT_GO_TO_ANGLE_RATE_HZ 200
#define ROBOT_GO_TO_ANGLE_END_RAD (0.5 * (M_PI / 180.0)) // stop 0.5 deg before target