From 754b225350418b2285b079c312274eb6be586080 Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Thu, 19 May 2022 11:57:12 +0200
Subject: [PATCH] updated a script for running a controller to control the
robot
---
code/tcp-server/omnibot_controller.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/code/tcp-server/omnibot_controller.py b/code/tcp-server/omnibot_controller.py
index 2184949..9a4d899 100644
--- a/code/tcp-server/omnibot_controller.py
+++ b/code/tcp-server/omnibot_controller.py
@@ -88,7 +88,7 @@ if __name__ == '__main__':
r = 0.028*0.45/18 # Wheel radius. Has been fudge-factored because the actual velocity of the wheels did not align with the set-points.
- vel_factor = 4 # Fudge factor that changes the relative velocity of the bot
+ vel_factor = 5 # Fudge factor that changes the relative velocity of the bot
def phidot(xdot,ang):
"""Returns reference velocities for the wheels, given current system state and reference velocities"""
@@ -107,7 +107,7 @@ if __name__ == '__main__':
no_error = True
while state.on and no_error:
t0 = time()
-
+
# Get gamepad updates.
# Use some scaling to turn the controller state values into
# reasonable velocities.
--
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