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Fix angle oscillation #330

Merged
merged 1 commit into from
Nov 7, 2023
Merged

Fix angle oscillation #330

merged 1 commit into from
Nov 7, 2023

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renan028
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@renan028 renan028 commented Oct 31, 2023 •
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Description

If the robot is too slow to execute a spin-in-place, oscillation will be triggered.
However, that is not an actual oscillation, since the robot is spinning to goal.

Testing

Behavior before (oscillation_angle == 𝝿):

oscillation.mp4

Behavior after (oscillation_angle == 0.1):

oscillation_fix.mp4

corot
corot approved these changes Oct 31, 2023
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I'm realizing that the param name is not clear enough,,, should be oscillation_reset_distance

@corot corot merged commit c02460e into naturerobots:master Nov 7, 2023
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@renan028 renan028 deleted the fix_oscillation branch November 7, 2023 02:02
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@siferati siferati siferati approved these changes

@corot corot corot approved these changes

@ChristofDubs ChristofDubs Awaiting requested review from ChristofDubs

@spuetz spuetz Awaiting requested review from spuetz

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@renan028 @corot @siferati