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PalouseRobosub / robosub_simulator

Robosub Simulator using Gazebo7
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Add thruster ramping. #41

Open dcrossman opened 7 years ago

dcrossman commented 7 years ago

Thruster changes are instantaneous on receipt of a control message. In actuality they take some amount of time to get to speed. We will need to model the deadzone and exponential thruster curves to, as closely as possible, model the blue robotics thrust curves http://docs.bluerobotics.com/thrusters/t200/

dcrossman commented 7 years ago

See me for more info.

ryan-summers commented 7 years ago

Note that currently, the deadzone and exponential have already been implemented. Only slow ramping need to be added.