gtagency
Measure the max speed of the car and caluclate max torque.
The first one can be done trivially enough on a track with a stopwatch. The second one can be done by looking at the datasheets for the CIMs and talking to robojackets about the gear ratio.
One thing to note is that we don't want the max_speed rosparam to be the maximum speed the hardware can reach. We want it to be the maximum allowed speed for the car to run. This is why I don't see why a value like 0.2 is that bad (though I see why it is bad for simulation in your computer lmao).
I'd suggest that, instead of measuring the max_speed, you just make the car run at a certain speed that is slow enough for it to not run people over in a parade and make that max_speed. That's how we arrived at 0.2 but you can probably increase that.
Ok so as a note, the max torque, which does need to be measured can be found at:
buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp:43
Don't forget to also put this as an inline comment in constants.yaml. Because the whole point is that if we're gonna have to maintain that being in two places, we better know that it needs to be modified in two places everytime we do modify in one of the two.
Should I also make another issue that both places need to be updated? Because that's a definite bug.
yes
On Fri, May 12, 2017 at 6:24 PM Sahit Chintalapudi [email protected] wrote:
Should I also make another issue that both places need to be updated? Because that's a definite bug.
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So if we don't want the max speed/torque to be what the car's capabilities, this issue is resolved by deciding on a max speed, not measuring one right?