Control Team Final PR

GEMstack/knowledge/defaults/current.yaml

@@ -11,15 +11,32 @@ control:
     recovery:
         brake_amount : 0.5
         brake_speed : 2.0
+
+    # Pure Pursuit controller parameters
     pure_pursuit:
-        lookahead: 2.0
-        lookahead_scale: 3.0
-        crosstrack_gain: 0.5
-        desired_speed: trajectory
+        lookahead: 2.0                  # Base lookahead distance (meters)
+        lookahead_scale: 3.0             # Velocity-dependent lookahead scaling factor
+        crosstrack_gain: 0.5             # Gain for crosstrack error correction (default: 1)
+        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
+
+    # Stanley controller parameters (fine tune this)
+    stanley:
+        control_gain: 1.5
+        softening_gain: 0.2
+        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
+
+    # MPC controller parameters
+    mpc:
+        dt: 0.2                          # Time step for the MPC controller (seconds)
+        horizon: 30                      # Prediction horizon for the MPC controller (number of time steps)
+        switch_gear: False                # Whether to switch gears during runtime
+        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
+
+    # Shared longitudinal control parameters
     longitudinal_control:
-        pid_p: 1.0
-        pid_i: 0.1
-        pid_d: 0.0
+        pid_p: 1.0                      # Proportional gain for speed PID controller
+        pid_i: 0.1                       # Integral gain for speed PID controller
+        pid_d: 1.0                       # Derivative gain for speed PID controller
 
 #configure the simulator, if using
 simulator:
@@ -31,4 +48,4 @@ simulator:
         #orientation_noise: 0.04  #2.3 degrees noise
         #velocity_noise:
         #    constant: 0.04  #4cm/s noise
-        #    linear: 0.02    #2% noise
+        #    linear: 0.02    #2% noise

GEMstack/knowledge/routes/backward_15m.csv

@@ -0,0 +1,16 @@
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+-1.0,0,0
+-2.0,0,0
+-3.0,0,0
+-4,0,0
+-5,0,0
+-6,0,0
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+-8,0,0
+-9,0,0
+-10,0,0
+-11,0,0
+-12,0,0
+-13,0,0
+-14,0,0
+-15,0,0

GEMstack/knowledge/routes/backward_curve.csv

@@ -0,0 +1,20 @@
+0.0,0,0
+-1.0,0,0
+-2.0,0.2,0
+-3.0,0.4,0
+-4.0,0.6,0
+-5.0,0.8,0
+-6.0,1.0,0
+-7.0,1.2,0
+-8.0,1.4,0
+-9.0,1.6,0
+-10.0,1.8,0
+-11.0,2.0,0
+-12.0,2.2,0
+-13.0,2.4,0
+-14.0,2.6,0
+-15.0,2.8,0
+-16.0,3.0,0
+-17.0,3.2,0
+-18.0,3.4,0
+-19.0,3.6,0

GEMstack/knowledge/routes/forward_curve.csv

@@ -0,0 +1,33 @@
+0.0,0,0
+1.0,0,0
+2.0,0,0
+3.0,0,0
+4.0,0.4,0
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+12.0,3.6,0
+13.0,4.0,0
+14.0,4.4,0
+15.0,4.8,0
+16.0,5.2,0
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+20.0,6.8,0
+21.0,7.2,0
+22.0,7.6,0
+23.0,8.0,0
+24.0,8.4,0
+25.0,8.8,0
+26.0,9.2,0
+27.0,9.6,0
+28.0,10.0,0
+29.0,10.4,0
+30.0,10.8,0
+31.0,11.2,0
+32.0,11.6,0

GEMstack/knowledge/routes/offset.csv

@@ -0,0 +1,31 @@
+0.0,0.5,0
+1.0,0.7,0
+2.0,0.9,0
+3.0,1.1,0
+4.0,1.3,0
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+7.0,1.9,0
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+11.0,2.7,0
+12.0,2.9,0
+13.0,3.1,0
+14.0,3.3,0
+15.0,3.5,0
+16.0,3.7,0
+17.0,3.9,0
+18.0,4.1,0
+19.0,4.3,0
+20.0,4.5,0
+21.0,4.7,0
+22.0,4.9,0
+23.0,5.1,0
+24.0,5.3,0
+25.0,5.5,0
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+28.0,6.1,0
+29.0,6.3,0
+30.0,6.5,0