From dd665caf8d943f532889a91b8b3c5c440d8db280 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Thu, 15 Dec 2011 01:28:12 +0100 Subject: [PATCH] robofsm: Motion control tuning - use smaller gains. This helps when robot is lost, if output from regulator is to large, robot behaves and moves too quickly which is dangerous! --- src/robofsm/motion-control.cc | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/robofsm/motion-control.cc b/src/robofsm/motion-control.cc index ae674a1b..cbe94bb1 100644 --- a/src/robofsm/motion-control.cc +++ b/src/robofsm/motion-control.cc @@ -58,22 +58,22 @@ UL_LOG_CUST(ulogd_motion_control); /* Log domain name = ulogd + name of the file * requested position if above this value, the robot lost and we try * to reset localization. */ -#define MAX_POS_ERROR_M 0.1 +#define MAX_POS_ERROR_M 0.25 /** * If trajectory end is reached and robot's estimated position is * closer than this distance, the movement is considered as "done". */ -#define CLOSE_TO_TARGET_M 0.05 +#define CLOSE_TO_TARGET_M 0.1 //Controller gains const struct balet_params k = { - p_tangent: 3, // dx gain - p_angle: 2, // dphi gain - p_perpen: 5 // dy gain -// p_tangent: 0.2, // dx gain -// p_angle: 0.15, // dphi gain -// p_perpen: 1 // dy gain + //p_tangent: 3, // dx gain + //p_angle: 2, // dphi gain + //p_perpen: 5 // dy gain + p_tangent: 0.2, // dx gain + p_angle: 0.15, // dphi gain + p_perpen: 1 // dy gain }; #define MOTION_PERIOD_NS (50/*ms*/*1000*1000) -- 2.39.2