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More conservative bearing controller.

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1 parent 6a8ad49 commit a8f4b45bf2212962c84e530335572f7deb4293a7 Anthony Cowley committed Feb 11, 2013
Showing with 1 addition and 1 deletion.
  1. +1 −1 Examples/Turtle/src/Turtle3.hs
@@ -42,7 +42,7 @@ toGoal (pos,goal) = (magnitude v, thetaErr)
-- Run a PID loop on angular velocity to converge to a bearing for the
-- goal.
steering :: Topic IO (Float,Float) -> Topic IO Velocity
-steering = topicOn snd (Velocity . fst) (($ 0) <$> pidTimedIO 0.01 4.0 0)
+steering = topicOn snd (Velocity . fst) (($ 0) <$> pidTimedIO 0.01 0.5 0)
-- Compute position and bearing error to goal, clamp linear and
-- angular velocities, and generate a steering command.

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