From b38720ba584ef0aa59a8b34c9fe207a40140e8ec Mon Sep 17 00:00:00 2001 From: shunsugar Date: Thu, 10 Oct 2024 07:20:29 +0000 Subject: [PATCH] Fix motor_driver_param for tsukuba2024 Orange_main. --- .../config/motor_driver_params.yaml | 21 +++++++++++-------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/orange_bringup/config/motor_driver_params.yaml b/orange_bringup/config/motor_driver_params.yaml index e78f693..e6dfb8e 100644 --- a/orange_bringup/config/motor_driver_params.yaml +++ b/orange_bringup/config/motor_driver_params.yaml @@ -7,8 +7,8 @@ motor_driver_node: left_wheel_radius: 0.09767 # meter right_wheel_radius: 0.09767 # meter # For odometry computation - computation_left_wheel_radius: 0.0960 # meter 1, 978 9.92 / 2, 950 10.0 / - computation_right_wheel_radius: 0.0960 # meter + computation_left_wheel_radius: 0.0960 # meter + computation_right_wheel_radius: 0.0964 # meter # Encoder CPR(counts per revolution) cpr: 16385 ############################### @@ -19,16 +19,19 @@ motor_driver_node: callback_timeout: 0.5 # seconds # Time to reach target position - set_accel_time_left: 200 # ms - set_accel_time_right: 200 # ms - set_decel_time_left: 200 # ms - set_decel_time_right: 200 # ms + set_accel_time_left: 500 # ms + set_accel_time_right: 500 # ms + set_decel_time_left: 500 # ms + set_decel_time_right: 500 # ms # Maximum rpm - max_left_rpm: 60 - max_right_rpm: 60 + max_left_rpm: 160 + max_right_rpm: 160 # Width of rpm to be regarded as 0 # If 3, then -3 to 3 is considered rpm 0 deadband_rpm: 3 - #Max speed = {max_rpm * (2pi/60)}*wheel_radius = 1.656m/s = 5.962km/h + # Max speed = {max_rpm * (2pi/60)} * wheel_radius = m/s + # Max speed = {162 * (2pi/60)} * 0.09767 = 1.656 m/s = 5.962 km/h + # Tsukuba: Less than 6 km/h +