Merge pull request #40 from BCLab-UNM/bug-pickup_routine

gmfricke · web-flow · commit 2b9950e4b083 · 2017-10-06T12:03:10.000-06:00
Fixed pickup routine to be back above a 75% success rate (in Gazebo), some improvement in hardware.
diff --git a/src/behaviours/src/PickUpController.cpp b/src/behaviours/src/PickUpController.cpp
@@ -246,14 +246,14 @@ Result PickUpController::DoWork() {
     else if (!lockTarget) //if a target hasn't been locked lock it and enter a counting state while slowly driving forward.
     {
       lockTarget = true;
-      result.pd.cmdVel = 0.15;
+      result.pd.cmdVel = 0.18;
       result.pd.cmdAngularError= 0.0;
       timeOut = true;
       ignoreCenterSonar = true;
     }
     else if (Td > raise_time_begin) //raise the wrist
     {
-      result.pd.cmdVel = 0.0;
+      result.pd.cmdVel = -0.15;
       result.pd.cmdAngularError= 0.0;
       result.wristAngle = 0;
     }

Original file line number	Diff line number	Diff line change
`@@ -246,14 +246,14 @@ Result PickUpController::DoWork() {`
`246`	`246`	`else if (!lockTarget) //if a target hasn't been locked lock it and enter a counting state while slowly driving forward.`
`247`	`247`	`{`
`248`	`248`	`lockTarget = true;`
`249`		`- result.pd.cmdVel = 0.15;`
	`249`	`+ result.pd.cmdVel = 0.18;`
`250`	`250`	`result.pd.cmdAngularError= 0.0;`
`251`	`251`	`timeOut = true;`
`252`	`252`	`ignoreCenterSonar = true;`
`253`	`253`	`}`
`254`	`254`	`else if (Td > raise_time_begin) //raise the wrist`
`255`	`255`	`{`
`256`		`- result.pd.cmdVel = 0.0;`
	`256`	`+ result.pd.cmdVel = -0.15;`
`257`	`257`	`result.pd.cmdAngularError= 0.0;`
`258`	`258`	`result.wristAngle = 0;`
`259`	`259`	`}`