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line tracker: add steering restriction as optional #148

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line tracker: add steering restriction as optional #148

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4 changes: 3 additions & 1 deletion sunray/LineTracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -268,7 +268,9 @@ void trackLine(bool runControl){
//CONSOLE.println(angular/PI*180.0);
if (maps.trackReverse) linear *= -1; // reverse line tracking needs negative speed
// restrict steering angle for stanley (not required anymore after last state estimation bugfix)
//if (!SMOOTH_CURVES) angular = max(-PI/16, min(PI/16, angular));
if (STANLEY_STEERING_RESTRICTION) {
if (!SMOOTH_CURVES) angular = max(-PI/16, min(PI/16, angular));
}
}
// check some pre-conditions that can make linear+angular speed zero
if (fixTimeout != 0){
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1 change: 1 addition & 0 deletions sunray/config_example.h
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Expand Up @@ -394,6 +394,7 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
#define STANLEY_CONTROL_P_SLOW 3.0 // 3.0 for path tracking control (angular gain) when docking tracking
#define STANLEY_CONTROL_K_SLOW 0.1 // 0.1 for path tracking control (lateral gain) when docking tracking

#define STANLEY_STEERING_RESTRICTION false // restrict steering angle for stanley (set to true to activate)

// ----- other options --------------------------------------------

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