fix division by zero bug on robot spec handling #161
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g3force
approved these changes
Apr 24, 2021
g3force
approved these changes
Apr 26, 2021
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Identify the Bug
#160
Description of the Change
Handle the case when acceleration is higher than the limit and sent speed is zero by using the robot current speed as proposed @g3force
Alternate Designs
I tried setting the limits directly to the wheel sent speeds, but this solution is simpler and requires less conversions
Possible Drawbacks
Verification Process
I've tested sending a robot speed for a fixed number of steps, then set the speed to zero. This test was done for different robot angles.
Release Notes
Not applicable