Angular Velocity of L/R Wheels #140
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Last test case seems to be very clearly indicating wrong behavior. Even if driving a turn right, the angle appears to keep decreasing? Not sure why this is happening... |
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Must let robot come to a complete stop before turning, lol. |
YoruCathy
approved these changes
Oct 24, 2024
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Description:
Adds the ability to manually set the angular velocity of the left and right wheels individually through the
robot.TargetVelocity()command. To be safe, this functionality leverages the existingToborMove.cslogic of setting a target velocity rather than setting the velocity explicitly.Resolves #134.
Test Plan
Adds some rough test cases under
test_bathing_env.test_target_angle_drivetests the use of this function.Notes
Although I am (pretty sure that I'm) pushing the angular velocities correctly, as-is, due to the nature of the physics sim or perhaps the robot drive, some strange, possibly unexpected behavior occurs when passing some values.
For example, driving backwards for 300 steps goes further than driving forwards; about 2x further. Again, I'm not sure why...