minor edits

khaledghobashy · May 6, 2020 · 9115d56 · 9115d56
1 parent a927b56
commit 9115d56
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/simenv/simulations/controled_acceleration.py b/simenv/simulations/controled_acceleration.py
@@ -19,11 +19,13 @@
 TR = 254
 
 
-controller = speed_controller(40, dt)
+controller = speed_controller(60, dt)
 
 def torque_function(t):
     P_ch = num_model.Subsystems.CH.P_rbs_chassis
     Rd = num_model.Subsystems.CH.Rd_rbs_chassis
+    if t >= 3:
+        controller.desired_speed = 0
     factor = controller.get_torque_factor(P_ch, Rd)
     return factor
 

diff --git a/simenv/simulations/controllers.py b/simenv/simulations/controllers.py
@@ -40,7 +40,7 @@ def get_torque_factor(self, P_ch, Rd_ch):
         self._last_err = err
 
         factor = P + I + D
-        if factor > 1.2:# or factor < -1.2:
+        if factor > 1.2 or factor < -1.2:
             self._sum_int -= err * self.dt
 
         factor = clamp(factor, -1.2, 1.2)