Fix steer constant naming

[hubacji1/iamcar.git] / vehicle_platform / steer.cc

diff --git a/vehicle_platform/steer.cc b/vehicle_platform/steer.cc
index 2414072f38a0609b793f708c586dd45d5eb96d74..29fad36924e1fe4deadb537c39dfdd29de38f99e 100644 (file)
--- a/vehicle_platform/steer.cc
+++ b/vehicle_platform/steer.cc
@@ -23,10 +23,10 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #define ST2WHEELBASE 2.450
 #define ST2TURNINGRADI 10.82
 #define ST2MAXSTEERING atan(ST2WHEELBASE / ST2TURNINGRADI)
-#define ST3COUNT 10
-#define ST3KP 1
-#define ST3KI 0
-#define ST3KD 0
+#define ST4COUNT 10
+#define ST4KP 1
+#define ST4KI 0
+#define ST4KD 0
 
 std::vector<RRTNode *> st1(RRTNode *init, RRTNode *goal)
 {
@@ -110,10 +110,10 @@ std::vector<RRTNode *> st4(RRTNode *init, RRTNode *goal)
         float ry = 0; // recomputed goal y
         float r = 0;
         int i = 0;
-        for (i = 0; i < ST3COUNT; i++) {
+        for (i = 0; i < ST4COUNT; i++) {
                 // speed controller
                 cerr = speed - bc.speed();
-                bc.speed(ST3KP * cerr + ST3KI * lerr);
+                bc.speed(ST4KP * cerr + ST4KI * lerr);
                 lerr += cerr;
                 // steer controller
                 rx = (gx - bc.x()) * cos(-bc.h()) -