Minor changes to make demo smoother.

+simiam/+controller/AOandGTG.m

@@ -33,7 +33,7 @@
             obj = [email protected]('ao_and_gtg');            
             obj.calibrated = false;
 
-            obj.Kp = 4;
+            obj.Kp = 5;
             obj.Ki = 0.01;
             obj.Kd = 0.01;
 
@@ -106,6 +106,8 @@
 
 %             fprintf('(v,w) = (%0.4g,%0.4g)\n', v,w);
 
+            v = 0.25/(log(abs(w)+2)+1);
+
             outputs.v = v;
             outputs.w = w;
         end

+simiam/+controller/AvoidObstacles.m

@@ -33,7 +33,7 @@
             obj = [email protected]('avoid_obstacles');            
             obj.calibrated = false;
 
-            obj.Kp = 4;
+            obj.Kp = 5;
             obj.Ki = 0.01;
             obj.Kd = 0.01;
 

+simiam/+simulator/Simulator.m

@@ -63,10 +63,10 @@ function step(obj, src, event)
 %                 split = max(obj.time_step,get(obj.clock, 'InstantPeriod'));
 %             end
 
-%             split = obj.time_step;
+            split = obj.time_step;
 %             fprintf('***TIMING***\nsimulator split: %0.3fs, %0.3fHz\n', split, 1/split);
 
-            tstart = tic;
+%             tstart = tic;
             nRobots = length(obj.world.robots);
             for k = 1:nRobots
                 robot_s = obj.world.robots.elementAt(k);