Decrease turn speed (when too fast, robot falls over)

Decrease side step size Co-authored-by: Philip Reichenberg <[email protected]>
HULKs · Nov 23, 2024 · a5a7bd3 · a5a7bd3
1 parent f39c123
commit a5a7bd3
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/etc/parameters/default.json b/etc/parameters/default.json
@@ -395,8 +395,8 @@
     "injected_step": null,
     "max_step_size": {
       "forward": 0.045,
-      "left": 0.1,
-      "turn": 1.0
+      "left": 0.06,
+      "turn": 0.5
     },
     "step_size_delta_slow": {
       "forward": -0.025,
@@ -406,7 +406,7 @@
     "step_size_delta_fast": {
       "forward": 0.01,
       "left": 0.04,
-      "turn": 0.0
+      "turn": 0.2
     },
     "max_step_size_backwards": 0.04,
     "translation_exponent": 1.5,