I have applied what I think is the fix you are reporting here to svn 2-1 branch, are you able to try this out and confirm it works as you intended?
Toby
2009/2/16 Andreas Vogt
<andreas.vogt@dfki.de>
Hi,
there was an error, now everything works.
Andreas
int VFH_Algorithm::Set_Motion( int &speed, int &turnrate, int
actual_speed )
{
// This happens if all directions blocked, so just spin in place
if (speed <= 0)
{
printf("stop\n");
turnrate = GetMaxTurnrate( actual_speed );
speed = 0;
}
else
{
if ((Picked_Angle > 270) && (Picked_Angle < 360)) {
turnrate = -1 * GetMaxTurnrate( actual_speed );
} else if ((Picked_Angle < 270) && (Picked_Angle > 180)) {
turnrate = GetMaxTurnrate( actual_speed );
} else {
turnrate = (int)rint(((float)(Picked_Angle - 90) / 75.0) *
GetMaxTurnrate( actual_speed ));
if (turnrate > GetMaxTurnrate( actual_speed )) {
turnrate = GetMaxTurnrate( actual_speed );
} else if (turnrate < (-1 * GetMaxTurnrate( actual_speed ))) {
turnrate = -1 * GetMaxTurnrate( actual_speed );
}
// if (abs(turnrate) > (0.9 * GetMaxTurnrate( actual_speed ))) {
// speed = 0;
// }
}
//check min_turnrate
if(turnrate < 0 && turnrate > -MIN_TURNRATE){turnrate = 0;}
if(turnrate > 0 && turnrate < MIN_TURNRATE){turnrate = 0;}
}
// speed and turnrate have been set for the calling function -- return.
return(1);
}
Am Freitag, den 13.02.2009, 08:42 -0800 schrieb Brian Gerkey:
> On Feb 13, 2009, at 2:50 AM, Andreas Vogt wrote:
>
> > Hi everyone,
> >
> > Does the parameter min_turnrate work in the vfh driver? Because my
> > robot
> > recieve velocitycommands smaller than min_turnrate!
>
> No, it doesn't. Interestingly, that parameter is passed into the
> underlying code as MIN_TURNRATE, but then never used.
>
> To fix it, look in player/server/drivers/position/vfh/
> vfh_algorithm.cc. It would seem that the place to do the thresholding
> is VFH_Algorithm::Set_Motion().
>
> If you get it working, please submit a patch.
>
> brian.
>
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