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ProgrammingRobotsStudyGroup / robo_magellan

Apache License 2.0
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Configure recovery speed based on a factor of the minimum PWM speed #43

Closed merose closed 6 years ago

merose commented 6 years ago

The recovery speed is currently set to the minimum PWM speed. This is fine when the terrain does not change, but if the minimum PWM is set for asphalt, and the rover wanders to grass, the speed may be low enough to cause a stall. Add a configuration parameter for a recovery speed factor which is multiplied by the minimum. For example, if the recovery speed factor were set to be 1.5, then the recovery speed would be the minimum PWM percentage times 1.5.

merose commented 6 years ago

Fixed in commit e9b669d1bf839cae98a3afa3abad86045437bda4