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[Humble] Updated W200 acceleration parameters #316

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[Humble] Updated W200 acceleration parameters #316

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18 changes: 18 additions & 0 deletions clearpath_control/config/w200/control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -55,17 +55,35 @@ platform_velocity_controller:
linear.x.has_jerk_limits: false
linear.x.max_velocity: 5.0
linear.x.min_velocity: -5.0
<<<<<<< HEAD:clearpath_control/config/w200/control.yaml
linear.x.max_acceleration: 50.0
linear.x.min_acceleration: -50.0
linear.x.max_jerk: 0.0
linear.x.min_jerk: 0.0
=======
linear.x.max_acceleration: 2.5
linear.x.max_deceleration: -10.0
linear.x.max_acceleration_reverse: -2.5
linear.x.max_deceleration_reverse: 10.0
linear.x.max_jerk: .NAN
linear.x.min_jerk: .NAN
>>>>>>> 156ba09 (Updated W200 acceleration parameters (#315)):clearpath_control/config/w200/control/diff_4wd.yaml

angular.z.has_velocity_limits: true
angular.z.has_acceleration_limits: true
angular.z.has_jerk_limits: false
angular.z.max_velocity: 4.0
angular.z.min_velocity: -4.0
<<<<<<< HEAD:clearpath_control/config/w200/control.yaml
angular.z.max_acceleration: 40.0
angular.z.min_acceleration: -40.0
angular.z.max_jerk: 0.0
angular.z.min_jerk: 0.0
=======
angular.z.max_acceleration: 2.0
angular.z.max_deceleration: -8.0
angular.z.max_acceleration_reverse: -2.0
angular.z.max_deceleration_reverse: 8.0
angular.z.max_jerk: .NAN
angular.z.min_jerk: .NAN
>>>>>>> 156ba09 (Updated W200 acceleration parameters (#315)):clearpath_control/config/w200/control/diff_4wd.yaml