feat(drivetrain): add slew rate limiters to arcade drive inputs#2
Draft
IamCoder18 wants to merge 2 commits into
Draft
feat(drivetrain): add slew rate limiters to arcade drive inputs#2IamCoder18 wants to merge 2 commits into
IamCoder18 wants to merge 2 commits into
Conversation
IamCoder18
force-pushed
the
feat/drivetrain-slew-rate-limiters
branch
from
7e3a2e9 to
2a018e5
Compare
Member
Author
|
Draft while I fix failing build and we verify on the robot, especially since we may want to tune the values further. |
IamCoder18
force-pushed
the
feat/drivetrain-slew-rate-limiters
branch
from
2a018e5 to
63f140f
Compare
Smooth driver control by limiting the rate of change of forward and turn inputs via SlewRateLimiter filters (0.5 and 0.3 respectively).
Member
Author
|
Checks pass; ready to test! |
This file contains hidden or 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
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
Context
Smooth driver control by limiting the rate of change of forward and turn inputs.
Issue
Closes #1
Implementation
I've added a Slew Rate Limiter to smooth out the acceleration of the forward input (0.5) and turn input (0.3).
This has not been tested on the robot yet, and the values (0.5 and 0.3) haven't been tuned.