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@@ -106,8 +106,20 @@ void ctrlcmd2decition::ListenCtrlCmd(const char *strdata, const unsigned int nSi
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{
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mpLT->GetTorqueBrake(xctrlcmd.linear_velocity()*3.6,facc,ftorque,fbrake);
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}
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+ else
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+ {
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+ double fVehWeight = 1800;
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+ double fg = 9.8;
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+ double fRollForce = 50;
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+ const double fRatio = 2.5;
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+ double fNeed = fRollForce + fVehWeight*facc;
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+
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+ ftorque = fNeed/fRatio;
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+ }
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// facc = xctrlcmd.linear_acceleration();
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fwheelangle = xctrlcmd.steering_angle() * (180.0/M_PI) * 15.0;
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+ if(fwheelangle>430)fwheelangle = 430;
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+ if(fwheelangle<-430)fwheelangle = -430;
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std::cout<<" acc: "<<facc<<" wheel: "<<fwheelangle<<std::endl;
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xdecition.set_accelerator(facc);
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xdecition.set_brake(fbrake);
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