From b365724bfbe45a74141e45b94c791154af9da8c4 Mon Sep 17 00:00:00 2001 From: Alexander Hellmann-Schweikardt <102021436+hellschwalex@users.noreply.github.com> Date: Tue, 21 Nov 2023 13:21:17 +0100 Subject: [PATCH] Update 05_documentation_components.md Correct Linter issues --- doc/05_acting/05_documentation_components.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/05_acting/05_documentation_components.md b/doc/05_acting/05_documentation_components.md index 5a647e60..9af1ef6e 100644 --- a/doc/05_acting/05_documentation_components.md +++ b/doc/05_acting/05_documentation_components.md @@ -112,8 +112,8 @@ Alexander Hellmann-Schweikardt * Choose_Controller by current Speed on *Sigmoid Curve* around STANLEY_CONTROLLER_MIN_V -> p_stanley (how much “stanley” steering is used 0 < p < 1, see image) * steering = p_stanley \* **stanley_steering** + (1-p_stanley) \* **pure_pursuit_steer** * since this is only the total steering, another PID Controller Kp = 0.5 Ki = 0.1 Kd = 0.1 with range[-MAX_STEER_ANGLE; MAX_STEER_ANGLE] is used to steer “smoothly” - * steer = PID(steering) with 0 as “workingpoint” - * CAREFUL: in function map_steering another parameter tune_k = -5 is used for tuning again + * steer = PID(steering) with 0 as “workingpoint” + * CAREFUL: in function map_steering another parameter tune_k = -5 is used for tuning again * Throttle: * if **throttle** > 0 : brake = 0 and throttle = **throttle** * else (**throttle** <= 0): brake = abs(**throttle**) and throttle = 0