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Fix: W200 Diff Drive Parameters #228

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Merged
merged 2 commits into from
Jun 27, 2025
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luis-camero
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Disable use of position state interface by the odometry calculation since the sevcon drivers only produce velocity data.

Decrease acceleration and deceleration parameters to match realistic limits on the motors.

@luis-camero luis-camero requested a review from a team as a code owner June 24, 2025 18:34
@luis-camero luis-camero requested review from mikehosmar and civerachb-cpr and removed request for a team June 24, 2025 18:34
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I'm assuming these are after some testing on the actual hardware and are correct. But going from 50m/s^2 down to 2.5m/s^2 for the acceleration limits seems like a big change. Just confirming that these numbers have been tested and shouldn't be e.g. 25.0 instead of 2.50

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I'm assuming these are after some testing on the actual hardware and are correct. But going from 50m/s^2 down to 2.5m/s^2 for the acceleration limits seems like a big change. Just confirming that these numbers have been tested and shouldn't be e.g. 25.0 instead of 2.50

The actual acceleration is much lower than the 50 m/s^2, I am trying to figure out why/how this worked specially when paired with ONav

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civerachb-cpr commented Jun 24, 2025

Was the old firmware accepting the high velocity and simply commanding the robot to accelerate as fast as the hardware would allow? The robot isn't incapable of accelerating at 50m/s^2, but that wouldn't necessarily stop the software from commanding a velocity change that high.

It may also be that OutdoorNav itself had a separate output parameter to set a maximum limit on the acceleration. As long as that limit was less than 50, it would get passed on without modification.

@luis-camero luis-camero merged commit 2febea2 into rc/jazzy/2.6 Jun 27, 2025
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2 participants