changed stanley gain back to 2023 raceday value

CMU-Robotics-Club · Apr 3, 2024 · 14671ff · 14671ff
1 parent c3420dd
commit 14671ff
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/rb_ws/src/buggy/scripts/auton/stanley_controller.py b/rb_ws/src/buggy/scripts/auton/stanley_controller.py
@@ -21,7 +21,8 @@ class StanleyController(Controller):
     MAX_LOOK_AHEAD_DIST = 2
 
     CROSS_TRACK_GAIN = 1
-    HEADING_GAIN = 0.3
+    # THIS GAIN SHOULD NOT EXIST, it should always be 1
+    HEADING_GAIN = 0.75
 
     def __init__(self, buggy_name, start_index=0) -> None:
         super(StanleyController, self).__init__(start_index, buggy_name)