Added slew rate limiter to drive controls #174
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Member
Gold872
commented
Oct 9, 2024
Gold872
commented
- Adds slew rate limiter (acceleration limiter) to drive
- Invert right input on bar chart in the drive page
Levi-Lesches
requested changes
Nov 5, 2024
Comment on lines
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| final currentTime = DateTime.now(); | ||
| final elapsedSeconds = (currentTime.microsecondsSinceEpoch / 1e6) - | ||
| (_previousTime.microsecondsSinceEpoch / 1e6); |
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Suggested change
| final currentTime = DateTime.now(); | |
| final elapsedSeconds = (currentTime.microsecondsSinceEpoch / 1e6) - | |
| (_previousTime.microsecondsSinceEpoch / 1e6); | |
| final elapsedSeconds = DateTime.now().difference(_previousTime).inMilliseconds; |
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This wouldn't work, since this method would be called every 10 ms the output would always be 0
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Oh I just based it off the variable name, now I just changed it to inMilliseconds -- that should be the same as what you were doing already, right?
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| List<Message> parseInputs(GamepadState state) { | ||
| final leftInput = state.normalLeftY; | ||
| final rightInput = -state.normalRightY; | ||
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| return [ | ||
| DriveCommand(throttle: throttle, setThrottle: true), | ||
| DriveCommand(setLeft: true, left: leftLimiter.calculate(leftInput)), | ||
| DriveCommand(setRight: true, right: rightLimiter.calculate(rightInput)), |
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You can probably remove the variables here to keep it shorter again. You can do -state.normalRightY instead of -1 * state.normalRightY though
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