search

BCLab-UNM / SC2

Swarmathon Team Code for the NASA Space Challenge 2 Competition
MIT License
2 stars 0 forks source link

Driver state meh locks up with small turns #194

Closed Carter90 closed 3 years ago

Carter90 commented 3 years ago

scoot.turn(-0.15492308594051232) will not return the driver gets stuck in a Drive state Note anything abs(.1) should be ignored by the Driver.py's drive function

[INFO] [1619779541.243019, 1719.996000]: _control: Called:req: 
  - 
    x: 0.0
    y: 0.0
    theta: -0.15492308594051232
    timer: 0.0
    angular: 0.0
    linear: 0.0
    obstacles: -3841
    timeout: 120
[INFO] [1619779541.544559, 1720.297000]: IDLE
[INFO] [1619779541.545965, 1720.298000]: DRIVE
[INFO] [1619779541.546957, 1720.299000]: drive called: x: 0
[INFO] [1619779541.547822, 1720.300000]: drive called: y: 0
[INFO] [1619779541.644062, 1720.397000]: DRIVE
[INFO] [1619779541.743845, 1720.497000]: DRIVE
[INFO] [1619779541.843718, 1720.597000]: DRIVE
[INFO] [1619779541.944002, 1720.697000]: DRIVE
[INFO] [1619779542.044345, 1720.797000]: DRIVE
[INFO] [1619779542.144431, 1720.897000]: DRIVE
Carter90 commented 3 years ago

Looks like its still an issue was driving around with the random walk after 16 wanders it got stuck in the DRIVE state during scoot.turn(random.gauss(-math.pi / 4, math.pi / 4), ignore=ignoring) small turns are still being ignored so not sure what happened just noticed the rover was not visibly moving anymore