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deceleration coefficient #19

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18 changes: 14 additions & 4 deletions examples/drive_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,10 @@ def __init__(self):
# Constants
self.WHEEL_DIAMETER = 0.165 # meters
self.WHEEL_CIRCUMFERENCE = self.WHEEL_DIAMETER * math.pi
self.MAX_SPEED = 0.5 # m/s
self.MAX_SPEED = 0.3 # m/s
self.ACCEL_RATE = 0.15
self.DECEL_DISTANCE = 0.15 # meters
self.DECEL_FACTOR = 1.2 # New parameter for controlling deceleration curve
self.DECEL_DISTANCE = 0.8 # meters
self.TURN_SPEED = 0.2
self.YAW_THRESHOLD = 2.0 # degrees

Expand Down Expand Up @@ -76,14 +77,23 @@ def drive_distance(self, distance_meters):
distance_remaining = (target_pos - current_pos) * self.WHEEL_CIRCUMFERENCE

if distance_remaining < self.DECEL_DISTANCE:
current_speed = max(0.05, (distance_remaining / self.DECEL_DISTANCE) * self.MAX_SPEED)
# Non-linear deceleration curve
progress = distance_remaining / self.DECEL_DISTANCE
decel_factor = math.pow(progress, self.DECEL_FACTOR)
current_speed = decel_factor * self.MAX_SPEED

# Cut off and stop if speed gets too low
if current_speed < 0.1:
self.stop_motors()
break

print(f"Decelerating to {current_speed:.3f} m/s")
self.motor_controller.set_speed_mps_left(current_speed)
self.motor_controller.set_speed_mps_right(current_speed)

if current_pos >= target_pos:
break
time.sleep(0.01)

self.stop_motors()

def turn_degrees(self, degrees):
Expand Down