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Revert "Adjust max slip ratio"
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This reverts commit a726b58.
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viggy96 committed Aug 19, 2024
1 parent a726b58 commit 523611c
Showing 1 changed file with 1 addition and 1 deletion.
Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ public TractionControlController(Measure<Dimensionless> staticCoF,
this.m_mass = mass.divide(4).in(Units.Kilograms);
this.m_maxLinearSpeed = Math.floor(maxLinearSpeed.in(Units.MetersPerSecond) * 1000) / 1000;
this.m_maxAcceleration = m_staticCoF * GlobalConstants.GRAVITATIONAL_ACCELERATION.in(Units.MetersPerSecondPerSecond);
this.m_maxPredictedSlipRatio = (m_maxAcceleration * GlobalConstants.ROBOT_LOOP_HZ)
this.m_maxPredictedSlipRatio = (m_maxAcceleration * GlobalConstants.ROBOT_LOOP_HZ / 2)
/ (m_staticCoF * m_mass * GlobalConstants.GRAVITATIONAL_ACCELERATION.in(Units.MetersPerSecondPerSecond));
this.m_isSlipping = false;
this.m_slippingDebouncer = new Debouncer(MIN_SLIPPING_TIME.in(Units.Seconds), DebounceType.kRising);
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