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Fix/speed limit - clipped steer rate limit #61

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merged 5 commits into from
Aug 5, 2019
Merged

Fix/speed limit - clipped steer rate limit #61

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8871b5d
Clipped the speed scale for steer rate limit
Aug 5, 2019
688e077
Clipped the speed scale for steer rate limit rev2 board
Aug 5, 2019
f0d04bf
Clipped the speed scale for steer rate limit
Aug 5, 2019
2a92260
whitespace cleanup
Aug 5, 2019
da198cf
whitespace cleanup
Aug 5, 2019
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7 changes: 5 additions & 2 deletions src/publish_control_board_rev2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,8 +54,11 @@ void PublishControlBoardRev2::publish_steering_message(const sensor_msgs::Joy::C
speed_mutex.unlock();

if (speed_valid)
speed_scale = STEER_OFFSET - fabs(
(current_speed / (max_veh_speed * STEER_SCALE_FACTOR))); // Never want to reach 0 speed scale.
if (current_speed < max_veh_speed)
speed_scale = STEER_OFFSET - fabs(
(current_speed / (max_veh_speed * STEER_SCALE_FACTOR))); // this could go negative.
else
speed_scale = 0.33333; // clips the equation assuming 1 offset and 1.5 scale_factor

steer_msg.angular_position = (range_scale * max_rot_rad) * msg->axes[axes[steering_axis]];
steer_msg.angular_velocity_limit = steering_max_speed * speed_scale;
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7 changes: 5 additions & 2 deletions src/publish_control_board_rev3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,8 +85,11 @@ void PublishControlBoardRev3::publish_steering_message(const sensor_msgs::Joy::C
speed_mutex.unlock();

if (speed_valid)
speed_scale = STEER_OFFSET - fabs(
(current_speed / (max_veh_speed * STEER_SCALE_FACTOR))); // Never want to reach 0 speed scale.
if (current_speed < max_veh_speed)
speed_scale = STEER_OFFSET - fabs(
(current_speed / (max_veh_speed * STEER_SCALE_FACTOR))); // this could go negative.
else
speed_scale = 0.33333; // clips the equation assuming 1 offset and 1.5 scale_factor

steer_msg.command = (range_scale * max_rot_rad) * msg->axes[axes[steering_axis]];
steer_msg.rotation_rate = steering_max_speed * speed_scale;
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