降低加速度

BluewhaleRobot · Jun 3, 2020 · 92c5299 · 92c5299
1 parent 2c7b51c
commit 92c5299
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/utils/config.py b/utils/config.py
@@ -34,7 +34,7 @@
 BROADCAST_PORT_V2 = 22002 # 局域网广播端口V2版本
 
 MAX_VEL = 0.8
-MAX_THETA = 3.0
+MAX_THETA = 1.5
 POWER_LOW = 9.8
 
 TF_ROT = np.array([[0., 0., 1.],

diff --git a/utils/monitor_server.py b/utils/monitor_server.py
@@ -163,7 +163,7 @@ def parse_data(self, cmds):
                     self.global_move_pub.publish(global_move_flag)
                     if cmds[count][1] > 1:
                         self.speed_cmd.angular.z = max(
-                            0.4, MAX_THETA * cmds[count][1] / 100.0 / temp_scale)
+                            0.2, MAX_THETA * cmds[count][1] / 100.0 / temp_scale)
                     else:
                         self.speed_cmd.angular.z = MAX_THETA * \
                             cmds[count][1] / 100.0 / temp_scale
@@ -174,7 +174,7 @@ def parse_data(self, cmds):
                     self.global_move_pub.publish(global_move_flag)
                     if cmds[count][1] > 1:
                         self.speed_cmd.angular.z = min(
-                            -0.4, -MAX_THETA * cmds[count][1] / 100.0 / temp_scale)
+                            -0.2, -MAX_THETA * cmds[count][1] / 100.0 / temp_scale)
                     else:
                         self.speed_cmd.angular.z = -MAX_THETA * \
                             cmds[count][1] / 100.0 / temp_scale