From b213273cffc53898c36308f31c1964230ef09f64 Mon Sep 17 00:00:00 2001 From: Daniel Chia Date: Sun, 3 Apr 2022 03:21:25 -0400 Subject: [PATCH] tunings --- src/driver/driver.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/driver/driver.cc b/src/driver/driver.cc index 40d0d1a..656af58 100644 --- a/src/driver/driver.cc +++ b/src/driver/driver.cc @@ -276,8 +276,10 @@ float Driver::CalculateLongitudinalControl(State& state) { fwd_vel_accel_e_i_ = 0.0f; fwd_vel_decel_e_i_ = 0.8f * fwd_vel_decel_e_i_ + e; float feed_forward = - (state.desired_fwd_vel_ - prev_state_.desired_fwd_vel_) * 1.0f; - float esc = feed_forward + e * 0.3f + fwd_vel_decel_e_i_ * 0.03f; + (state.desired_fwd_vel_ - prev_state_.desired_fwd_vel_) * 0.1f; + // float esc = feed_forward + e * 0.3f + fwd_vel_decel_e_i_ * 0.03f; + // float esc = feed_forward + e * 0.6f + fwd_vel_decel_e_i_ * 0.06f; + float esc = feed_forward + e * 0.9f + fwd_vel_decel_e_i_ * 0.09f; return std::clamp(esc, -1.0f, 0.5f); }