Fix for stuck in place rovers #119
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Rovers would get stuck in the ROTATE state of the statemachine inside DriveController.cpp . The values being passed out of the fastPID method were too low (varied from 40 all the way to 0 or 1). The net result was the rover would send these through ROSAdapter into sendDriveCommand resulting in constant power to motors but the rover wouldn't move. The result was to set a hard min value for rover motor speeds coming out of fastPID inside the ROTATE state. Currently set to 80 and seems to run ok. Needs testing. Made changes to PID.cpp and ROSAdapter.cpp with cleaning up and commenting all 3 files and moving some braces for readability while debugging problem. Currently left debugging cout statements in code for future hardware testing. Will remove once testing is complete before pull request is accepted.
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Working
1.) Rover no longer gets stuck while turning
Not Working
None
Additional Comments
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kristiana-rendon
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Nov 2, 2017
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I mischecked the review response. This pull request is ready for merging!
mike-matera
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Dec 31, 2019
Use tf2 and the tf_static latched topic and get rid of our old foes the sonar transforms.
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Rovers would get stuck in the ROTATE state of the statemachine inside DriveController.cpp . The values being passed out of the fastPID method were too low (varied from 40 all the way to 0 or 1). The net result was the rover would send these through ROSAdapter into sendDriveCommand resulting in constant power to motors but the rover wouldn't move. The fix was to set a hard min value for rover motor speeds coming out of fastPID inside the ROTATE state. Currently set to 80 and seems to run ok. Needs testing. Made changes to PID.cpp and ROSAdapter.cpp with cleaning up and commenting all 3 files and moving some braces for readability while debugging problem. Currently left debugging cout statements in code for future hardware testing. Will remove once testing is complete before pull request is accepted.
Actual fix located in DriveController.cpp on lines 139-171
Fixes issue #91