-

attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/vehspdctrl/src/vehspdctrl.c

@@ -132,8 +132,7 @@ void vehspdctrl_step(void)
 		else
 			debugLedOff();
 			
-		//motTrqTgtSrv = spdCtrl(spdTgt);
-		motTrqTgtSrv = spdTgt;
+		motTrqTgtSrv = spdCtrl(spdTgt);
 		break;
 //	case SYSTEM_STATE_RUNNING_TRAJ:
 //		TODO system state not implemented yet

modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp

@@ -9,8 +9,8 @@
 #include "ultrasonic/UltrasonicSensor.h"
 #include "tools/StreamMeanFilter.h"
 
-constexpr float MAX_SPEED = 0.1f;
-constexpr float BRAKE_SPEED = -0.10f * 4;
+constexpr float MAX_SPEED = 3.0f;
+constexpr float BRAKE_SPEED = 0;
 
 int readDevId()
 {
@@ -132,14 +132,13 @@ int main(int argc, char ** argv)
                 }
                 else if (cmd == "s")
                 {
-                    value /= 100.0f;
                     if (std::abs(value) > MAX_SPEED)
                     {
                         value = value >= 0 ? MAX_SPEED : -MAX_SPEED;
                         std::cout << "WARNING: Speed set to 1.0 due to risk of collision!\n";
                     }
                     speed = value;
-                    stopDistance = speed.load() * 100 * 15;
+                    stopDistance = speed.load() * 15;
                     std::cout << "Setting speed to: " << value << "\n";
                 }
             }