Adjusted heading error weight.

Widened path index lookup range.
CMU-Robotics-Club · Feb 3, 2024 · 498bf21 · 498bf21
1 parent 4826444
commit 498bf21
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/rb_ws/src/buggy/scripts/auton/stanley_controller.py b/rb_ws/src/buggy/scripts/auton/stanley_controller.py
@@ -23,7 +23,7 @@ class StanleyController(Controller):
     MAX_LOOK_AHEAD_DIST = 2
 
     CROSS_TRACK_GAIN = 1
-    HEADING_GAIN = 0.75
+    HEADING_GAIN = 0.3
 
     def __init__(self, buggy_name, start_index=0) -> None:
         super(StanleyController, self).__init__(start_index, buggy_name)
@@ -63,8 +63,8 @@ def compute_control(
         traj_index = trajectory.get_closest_index_on_path(
             front_x,
             front_y,
-            start_index=self.current_traj_index,
-            end_index=self.current_traj_index + 10,
+            start_index=self.current_traj_index - 20,
+            end_index=self.current_traj_index + 50,
         )
         self.current_traj_index = max(traj_index, self.current_traj_index)