modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-30 09:55:20 -04:00
parent 515e239f81
commit bb9d09ef16
2 changed files with 4 additions and 4 deletions
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4
simulated_pcb/odo.py
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@@ -56,12 +56,12 @@ class SimulatedPCB:
self.waypoint_order.pop(0)
del self.waypoints[wp['id']]
else:
speed = min(150.0, distance)
speed = min(300.0, distance * 2)
self.vx = speed * math.cos(angle)
self.vy = speed * math.sin(angle)
self.vtheta = max(-9.0, min(9.0, angle_diff * 2))
else:
speed = min(200.0, distance * 2)
speed = min(400.0, distance * 3)
self.vx = speed * math.cos(angle)
self.vy = speed * math.sin(angle)
self.vtheta = 0.0

4
src/modelec_strat/src/strat_fms.cpp
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@@ -159,9 +159,9 @@ namespace Modelec
{
Transition(State::DO_PROMOTION, "Start promotion");
}
else
else if (elapsed.seconds() >= 100)
{
Transition(State::DO_GO_HOME, "All missions done");
Transition(State::STOP, "All missions done");
}
/*if (elapsed.seconds() >= 2)