Added PID parameters (Kp and Kd) to the steering command #13
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Davide64-dev
requested changes
Apr 29, 2025
Comment on lines
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| // DO NOT REMOVE NEXT BLOCK | ||
| unsigned char hex_value = | ||
| static_cast<unsigned char>((static_cast<char *>(steering_payload_data))[1]); | ||
| unsigned char hex_sign = | ||
| static_cast<unsigned char>((static_cast<char *>(steering_payload_data))[0]); | ||
| // SIGN OF THE ANGLE | ||
| assert(hex_sign == 0x00 || hex_sign == 0xff); | ||
| // HARD STEERING UPPER LIMIT | ||
| assert(hex_sign != 0x00 || hex_value < STEERING_UPPER_LIMIT_HEX_CHAR); | ||
| // HARD STEERING LOWER LIMIT | ||
| assert(hex_sign != 0xff || hex_value > STEERING_LOWER_LIMIT_HEX_CHAR); | ||
| // DO NOT REMOVE PREVIOUS BLOCK | ||
| auto *b = static_cast<unsigned char*>(steering_payload_data); | ||
| uint16_t raw = (uint16_t(b[0]) << 8) | uint16_t(b[1]); | ||
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| // HARD LOWER LIMIT (more negative than -1.2 rad) | ||
| assert(raw >= STEERING_RAW_MIN); | ||
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| // HARD UPPER LIMIT (more positive than +1.2 rad) | ||
| assert(raw <= STEERING_RAW_MAX); |
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| float v_des = 0.0f; | ||
| float kp = 20.0f; | ||
| float kd = 0.5f; | ||
| float torque_ff = 0.0f; |
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Make this as parameter
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Please review carefully. I had to modify the entire steering command to incorporate the new parameters, which also required changes to the safety function to validate steering angle limits, which is a critical system.