modelec/modelec-marcel-ROS
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some adjustment

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acki
2026-01-28 13:55:30 +01:00
parent 94c00f5ad4
commit 272294bc88
5 changed files with 21 additions and 9 deletions
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6
simulated_pcb/odo.py
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@@ -54,10 +54,10 @@ class SimulatedPCB:
# --- motion ---
if wp['type'] == 1: # precise waypoint
speed = min(120.0, distance * 1)
self.vtheta = max(-6.0, min(6.0, theta_error * 2))
speed = min(250.0, distance * 2.0)
self.vtheta = max(-10.0, min(10.0, theta_error * 4.0))
else: # transit waypoint
speed = min(180.0, distance * 2)
speed = min(400.0, distance * 3.0)
self.vtheta = 0.0
self.vx = speed * math.cos(target_angle)