From a548de14d6e32ff6f70eded9ab3c2c442e720ce7 Mon Sep 17 00:00:00 2001 From: Sam Dekhterman <39445510+sdekhterman@users.noreply.github.com> Date: Thu, 7 Nov 2024 14:17:51 -0600 Subject: [PATCH] Update dbw_vel.py --- dbw/dbw/dbw_vel.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/dbw/dbw/dbw_vel.py b/dbw/dbw/dbw_vel.py index 8167a3d..2340ec9 100644 --- a/dbw/dbw/dbw_vel.py +++ b/dbw/dbw/dbw_vel.py @@ -27,7 +27,8 @@ def __init__(self): self.ang_vel_step_size = 1/1024 self.ang_vel_min = -31.25 # rad/s - self.ang_vel_eff_max = 31.25 # rad/s + self.ang_vel_eff_min = 0.5 # rad/s + self.ang_vel_eff_max = 0.5 # rad/s self.lin_percent_range = 100.0 self.ang_percent_range = 200.0 @@ -37,7 +38,7 @@ def __init__(self): self.lin_spd_range = self.lin_vel_eff_max / self.lin_vel_step_size self.ang_offset = abs(self.ang_vel_min / self.ang_vel_step_size) - self.ang_spd_range = (self.ang_vel_eff_max - self.ang_vel_min) / self.ang_vel_step_size + self.ang_spd_range = (self.ang_vel_eff_max - self.ang_vel_eff_min) / self.ang_vel_step_size # can messages definations # sent messages (arbitration_id = priority 0x18 & pgn # in hexidecimal & device address in hexicemial, data = initial hex command byte, the remaining bits are defaults with unassigned bytes being set to 0xFF or 0x00 arbitrary