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Fix motor_driver_param for tsukuba2024 Orange_main. #89

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merged 1 commit into from
Oct 11, 2024
Merged

Fix motor_driver_param for tsukuba2024 Orange_main. #89

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21 changes: 12 additions & 9 deletions orange_bringup/config/motor_driver_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
###############################
Expand All @@ -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

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