One of the methods the driver uses to decide when to stop driving forward is calculating whether it's at the goal location yet. For the at_goal test, it assumes it's reached the goal as soon as the rover is within GOAL_DISTANCE_OK / 2 meters.
If the rover is driving slow and only a short distance:
the at_goal test is most likely to stop the rover, because it probably won't have accumulated a very large goal_angle during a short drive
it won't coast very far after the PID stop command goes out
This means the rover will usually stop short by GOAL_DISTANCE_OK / 2 meters, or ~5cm given the current parameter value (0.1 m).
Since the driver has two methods of deciding whether it should stop, it might be useful to reduce GOAL_DISTANCE_OK to something like 0.05.
Carter90
commented
5 years ago
One of the methods the driver uses to decide when to stop driving forward is calculating whether it's at the goal location yet. For the at_goal test, it assumes it's reached the goal as soon as the rover is within
GOAL_DISTANCE_OK / 2meters.If the rover is driving slow and only a short distance:
goal_angleduring a short driveThis means the rover will usually stop short by
GOAL_DISTANCE_OK / 2meters, or ~5cm given the current parameter value (0.1 m).Since the driver has two methods of deciding whether it should stop, it might be useful to reduce
GOAL_DISTANCE_OKto something like 0.05.