Limit lin_speed, scale ang_speed in PIDController and BoomerangController #95
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
![github-actions[bot]](https://avatars.githubusercontent.com/in/15368?s=60&v=4){kind=small}
| @@ -50,24 +49,18 @@ BoomerangController::get_command(bool reverse, bool thru, | |||
| } | |||
| lin_speed *= dir; | |||
|
|
|||
| double pose_error = voss::norm_delta(target.theta.value() - current_angle); | |||
There was a problem hiding this comment.
warning: variable 'pose_error' is not initialized [cppcoreguidelines-init-variables]
Suggested change
| double pose_error = voss::norm_delta(target.theta.value() - current_angle); | |
| double pose_error = NAN = voss::norm_delta(target.theta.value() - current_angle); |
| // reduce the linear speed if the bot is tangent to the target | ||
| ang_speed = angular_pid.update(pose_error); | ||
| } else if (distance_error < 2 * min_error) { | ||
| double scale_factor = (distance_error - min_error) / min_error; |
There was a problem hiding this comment.
warning: variable 'scale_factor' of type 'double' can be declared 'const' [misc-const-correctness]
Suggested change
| double scale_factor = (distance_error - min_error) / min_error; | |
| double const scale_factor = (distance_error - min_error) / min_error; |
| ang_speed = angular_pid.update(pose_error); | ||
| } else if (distance_error < 2 * min_error) { | ||
| double scale_factor = (distance_error - min_error) / min_error; | ||
| double scaled_angle_error = voss::norm_delta(scale_factor * angle_error + (1 - scale_factor) * pose_error); |
There was a problem hiding this comment.
warning: variable 'scaled_angle_error' of type 'double' can be declared 'const' [misc-const-correctness]
Suggested change
| double scaled_angle_error = voss::norm_delta(scale_factor * angle_error + (1 - scale_factor) * pose_error); | |
| double const scaled_angle_error = voss::norm_delta(scale_factor * angle_error + (1 - scale_factor) * pose_error); |
Rocky14683
approved these changes
Apr 17, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Limit lin_speed in PIDController and Boomerang controller so it scales better in DiffChassis
Scale ang_speed for a smoother transition between being outside of min_error and being within min_error.