Manually tweak controller & velocity limits

btalb · btalb · commit 23c11ad2db5d · 2022-04-27T07:44:46.000Z
Addresses qcr/benchbot#44.
diff --git a/src/robot_callbacks.py b/src/robot_callbacks.py
@@ -16,13 +16,12 @@
 
 _MOVE_TIMEOUT = 30
 
-_MOVE_POSE_K_RHO = 1
-_MOVE_POSE_K_ALPHA = 4
-_MOVE_POSE_K_BETA = -1.5
-
-_MOVE_LINEAR_LIMITS = [-0.6, 2.0]
-_MOVE_ANGULAR_LIMIT = 0.5
+_MOVE_POSE_K_RHO = 2
+_MOVE_POSE_K_ALPHA = 10
+_MOVE_POSE_K_BETA = -4
 
+_MOVE_LINEAR_LIMITS = [-0.6, 1.5]
+_MOVE_ANGULAR_LIMIT = 1.0
 
 
 def __safe_dict_get(d, key, default):
