yikestone/ros_arduino_bridge
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Added resetPID() call when robot velocities are 0 to fix motion perserverance bug

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This commit is contained in:
Patrick Goebel 2016-04-18 06:30:15 -07:00
parent d03061ae60
commit 2b4567ec08
2 changed files with 2 additions and 1 deletions
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1
ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -316,6 +316,7 @@ int runCommand() {
lastMotorCommand = millis(); lastMotorCommand = millis();
if (arg1 == 0 && arg2 == 0) { if (arg1 == 0 && arg2 == 0) {
setMotorSpeeds(0, 0); setMotorSpeeds(0, 0);
resetPID();
moving = 0; moving = 0;
} }
else moving = 1; else moving = 1;

2
ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h
View File

@ -100,7 +100,7 @@ void doPID(SetPointInfo * p) {
/* /*
* allow turning changes, see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/ * allow turning changes, see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/
*/ */
p->ITerm += Ki * Perror; p->ITerm += Ki * Perror;
p->output = output; p->output = output;
p->PrevInput = input; p->PrevInput = input;