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BlueAndi / DroidControlShip

Robot platooning, sensor fusion of odometry and inertial unit and more ...
MIT License
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Use mm/s #153

Closed gabryelreyes closed 3 months ago

gabryelreyes commented 3 months ago

Use mm/s instead of steps/s Allows for the counterpart to use SI units instead of steps. Counterpart of https://github.com/BlueAndi/RadonUlzer/pull/146

Closes #114

nhjschulz commented 3 months ago

Would have been a good oportunity to introduce a user type for speed, something like typedef uint32_t velocity_t.

BlueAndi commented 3 months ago

The change has influence on the PIDs, I only saw one change there. What about calculations at all?

gabryelreyes commented 3 months ago

I tested the simulation and this was the only change required for the stability of the platoon

BlueAndi commented 3 months ago

I tested the simulation and this was the only change required for the stability of the platoon

A stability issue means there is a bug or bad parameters. There is no influence just by unit change on stability. ;-) Anyway you can merge, but the stability issue might still be included and just damped.

gabryelreyes commented 3 months ago

Not even an issue when the maximum value possible changes? Then you may be right, and there may still be an issue

BlueAndi commented 3 months ago

Not even an issue when the maximum value possible changes?

No, there is always a max. speed by electronic + mechanic. Every higher value is limited on RU side. Seems for me the problem is on DCS side, that it assumes the higher speed will work, but it doesn't.