def __init__(self, wheel_base, steer_ratio, min_speed, max_lat_accel,
max_steer_angle, vehicle_mass):
self.vehicle_mass = vehicle_mass
self.wheel_radius = wheel_base
self.yawcontroller = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
self.set_controllers()
pass
def __init__(self, **kwargs):
self.yaw_controller = YawController(kwargs['wheel_base'],
kwargs['steer_ratio'], 0.0,
kwargs['max_lat_accel'],
kwargs['max_steer_angle'])
self.throttle_pid = PID(0.5, 0.002, 0.0, kwargs['decel_limit'],
kwargs['accel_limit'])
self.previous_time = None
def __init__(self, vehicle_mass, decel_limit, wheel_radius, wheel_base,
steer_ratio, min_speed, max_lat_accel, max_steer_angle):
self.vehicle_mass = vehicle_mass
self.decel_limit = decel_limit
self.wheel_radius = wheel_radius
self.min_speed = min_speed
self.vel_controller = PID(0.5, 0.01, 0.05, 0.0, 1.0)
self.yaw_controller = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
def __init__(self, params):
# TODO: Implement
self.yaw_controller = YawController(
wheel_base=params['wheel_base'],
steer_ratio=params['steer_ratio'],
min_speed=params['min_speed'],
max_lat_accel=params['max_lat_accel'],
max_steer_angle=params['max_steer_angle'])
self.set_controllers()
def __init__(self, vehicle_info):
self.pid_controller = PID(0.5, 0.002, 0.0, vehicle_info.decel_limit,
vehicle_info.accel_limit)
self.yaw_controller = YawController(vehicle_info.wheel_base,
vehicle_info.steer_ratio, 0,
vehicle_info.max_lat_accel,
vehicle_info.max_steer_angle)
self.prev_time = None
def __init__(self, wheel_base, steer_ratio, max_lat_accel, max_steer_angle,
vehicle_mass, wheel_radius, brake_deadband):
self.yaw_controller = YawController(wheel_base, steer_ratio, MIN_SPEED,
max_lat_accel, max_steer_angle)
self.pid = PID(KP, KI, KD, -MAX_ACCEL, MAX_ACCEL)
self._vehicle_mass = vehicle_mass
self._wheel_radius = wheel_radius
self._brake_deadband = brake_deadband
def __init__(self, vehicle_mass, wheel_radius, wheel_base, steer_ratio,
max_lat_accel, max_steer_angle):
self.vehicle_mass = vehicle_mass
self.wheel_radius = wheel_radius
# TODO: Determine proper PID control parameters
self.speed_controller = PID(1.0, 0.0, 0.0, -5.0, GAS_DENSITY)
self.yaw_controller = YawController(wheel_base, steer_ratio, ONE_MPH,
max_lat_accel, max_steer_angle)
pass
def __init__(self, *args, **kwargs): # cleaner way to setup parameters
#def __init__(self, vehicle_mass, fuel_capacity, brake_deadband , decel_limit, accel_limit,
# wheel_radius, wheel_base, steer_ratio, max_lat_accel, max_steer_angle):
# TODO: Implement
# Retrieve parameters.
self.vehicle_mass = kwargs['vehicle_mass']
self.fuel_capacity = kwargs['fuel_capacity'] # not used in project
self.brake_deadband = kwargs['brake_deadband']
self.decel_limit = kwargs[
'decel_limit'] # comfort parameter, not used in project
self.accel_limit = kwargs[
'accel_limit'] # comfort parameter, not used in project
self.wheel_radius = kwargs['wheel_radius']
self.wheel_base = kwargs['wheel_base']
self.steer_ratio = kwargs['steer_ratio']
self.max_lat_accel = kwargs['max_lat_accel']
self.max_steer_angle = kwargs['max_steer_angle']
self.last_time = rospy.get_time()
self.yaw_controller = YawController(self.wheel_base, self.steer_ratio,
0.1, self.max_lat_accel,
self.max_steer_angle)
#0.5, 0.00001, 0.
# trial and error values, can be changed
kp = 0.3 #0.8 #0.3
ki = 0.0 #0.1
kd = 0.8 #0.06
min_thr = 0. # Min throttle value
max_thr = 0.1 #0.1 #0.2 # Max throttle value
self.throttle_controller = PID(kp, ki, kd, min_thr, max_thr)
#Account for cross track error in steering angle
#kp_cte = 0.5 #CTE
#ki_cte = 0.0 #CTE
#kd_cte = 0.2 #CTE
#self.steer_cte_controller = PID(kp_cte, ki_cte, kd_cte, -self.max_steer_angle, self.max_steer_angle) #CTE
#filters the high freq noise in the velocity input
tau = 0.5 # cutoff_freq = 1/(2*pi*tau)
ts = 0.02 # sample time
self.vel_lpf = LowPassFilter(tau, ts)
self.steer_filter = LowPassFilter(0.2, 0.1)
#self.vehicle_mass = vehicle_mass
#self.fuel_capacity = fuel_capacity # not used in project
#self.brake_deadband = brake_deadband
#self.decel_limit = decel_limit # comfort parameter, not used in project
#self.accel_limit = accel_limit # comfort parameter, not used in project
#self.wheel_radius = wheel_radius # required
#published by tl_detector, so that throttle can be reduced if incoming traffic light is detected
#rospy.Subscriber('/traffic_light_ahead', Int32, self.traffic_light_ahead_cb) #? Check definition
#self.traffic_signal_ahead = -1
rospy.logwarn("initialized Controller")
def __init__(self, vehicle_mass, fuel_capacity, brake_deadband,
decel_limit, accel_limit, wheel_radius, wheel_base,
steer_ratio, max_lat_accel, max_steer_angle, min_speed):
# TODO: Implement
self.yaw_controller = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
kp = 0.12
ki = 0.006
kd = 3.0
self.pid = PID(kp, ki, kd)
def __init__(self, *args, **kwargs):
self.throttle_pid = PID(kwargs['throttle_gains'])
self.yaw_control = YawController(kwargs['wheel_base'],
kwargs['steer_ratio'],
kwargs['min_speed'],
kwargs['max_lat_accel'],
kwargs['max_steer_angle'],
kwargs['steering_gains'])
self.last_t = None
self.filter = LowPassFilter(0.2, 0.1)
def __init__(self, *args):
# for calcuate brake(torque[N/m])
self.total_mass = args[4] + args[5] * GAS_DENSITY
self.wheel_radius = args[6]
self.yaw_controller = YawController(args[0], args[1], 0.15, args[2],
args[3])
self.pid = PID(0.0198, 0.0002, 0.0064, -1.0, 0.35)
# tau = 0.01, ts = 50Hz -> 20ms
self.lowpass_filter = LowPassFilter(0.01, 0.02)
def __init__(self, wheel_base, steer_ratio, min_speed, max_lat_accel, max_steer_angle):
self.wheel_base = wheel_base
self.steer_ratio = steer_ratio
self.PID_lon = PID(lon_kp, lon_ki, lon_kd, mn = 0.0, mx = 1.0)
self.PID_steer = PID(lat_kp, lat_ki, lat_kd, mn=-max_steer_angle, mx=max_steer_angle)
self.time_old = rospy.get_time()
self.time = 0
self.yaw_controller = YawController(wheel_base, steer_ratio, min_speed, max_lat_accel, max_steer_angle)
def __init__(self, vehicle_mass, decel_limit, accel_limit, wheel_radius,
wheel_base, steer_ratio, max_lat_accel, max_steer_angle):
self.yaw_controller = YawController(wheel_base, steer_ratio, 0.1,
max_lat_accel, max_steer_angle)
self.throttle_controller = PID(0.1, 0.001, 3, 0, accel_limit)
self.velocity_lpf = LowPassFilter(0.5, 0.02)
self.decel_limit = decel_limit
self.vehicle_mass = vehicle_mass
self.wheel_radius = wheel_radius
self.last_time = rospy.get_time()
def __init__(self):
rospy.init_node('dbw_node')
vehicle_mass = rospy.get_param('~vehicle_mass', 1736.35)
fuel_capacity = rospy.get_param('~fuel_capacity', 13.5)
brake_deadband = rospy.get_param('~brake_deadband', .1)
decel_limit = rospy.get_param('~decel_limit', -5)
accel_limit = rospy.get_param('~accel_limit', 1.)
wheel_radius = rospy.get_param('~wheel_radius', 0.2413)
wheel_base = rospy.get_param('~wheel_base', 2.8498)
steer_ratio = rospy.get_param('~steer_ratio', 14.8)
max_lat_accel = rospy.get_param('~max_lat_accel', 3.)
max_steer_angle = rospy.get_param('~max_steer_angle', 8.)
self.dbw_enabled = True
self.twist = None
self.waypoints = None
self.pose = None
self.velocity = None
self.steer_pub = rospy.Publisher('/vehicle/steering_cmd',
SteeringCmd,
queue_size=1)
self.throttle_pub = rospy.Publisher('/vehicle/throttle_cmd',
ThrottleCmd,
queue_size=1)
self.brake_pub = rospy.Publisher('/vehicle/brake_cmd',
BrakeCmd,
queue_size=1)
# TODO: Create `TwistController` object
# self.controller = TwistController(<Arguments you wish to provide>)
self.controller = Controller(vehicle_mass, wheel_radius, accel_limit,
decel_limit, max_steer_angle)
self.yaw_controller = YawController(wheel_base, steer_ratio, 0.0,
max_lat_accel, max_steer_angle)
# TODO: Subscribe to all the topics you need to
rospy.Subscriber('/final_waypoints',
Lane,
self.waypoints_cb,
queue_size=1)
rospy.Subscriber('/current_pose',
PoseStamped,
self.pose_cb,
queue_size=1)
rospy.Subscriber('/current_velocity',
TwistStamped,
self.velocity_cb,
queue_size=1)
rospy.Subscriber('/twist_cmd', TwistStamped, self.twist_cb)
rospy.Subscriber('/dbw_enabled', PoseStamped, self.dbw_cb)
self.loop()
def __init__(
self, vehicle_mass, fuel_capacity, brake_deadband, decel_limit,
accel_limit, wheel_radius, wheel_base, steer_ratio, max_lat_accel,
max_steer_angle, min_speed
): # I went back to regular variable passing because it was getting too confusing
# TODO: Implement
#all below from Q+A video
#video never mentioend the4 kwags eror below
#self.yaw_controller = YawController(wheel_base,steer_ratio, 0.1, max_lat_accel,max_steer_angle)
'''
#another attempt around kwargs issue
self.yaw_controller = YawController(wheel_base = kwargs['wheel_base'],
steer_ratio = kwargs['steer_ratio'],
min_speed = kwargs['min_speed'],
max_lat_accel = kwargs['max_lat_accel'],
max_steer_angle = kwargs['max_steer_angle'])
'''
# note no using some things that were passed in ie vehicle_mass, fuel_capacity ,brake_deadband , decel_limit , accel_limit , wheel_radius ,
self.yaw_controller = YawController(wheel_base, steer_ratio,
max_lat_accel, max_steer_angle,
min_speed)
##error
#File "/home/workspace/CarND-Capstone/ros/src/twist_controller/twist_controller.py", line 10, in __init__
# self.yaw_controller = YawController(wheel_base,steer_ratio, 0.1, max_lat_accel,max_steer_angle)
#NameError: global name 'YawController' is not defined
#0.1,.01 and .01 gives good throttle but keeps going at end of loop
kp = 0.1 #0.05#1.0# 1.0#0.7#0.2#0.7##1.0 #0.3#5.0#1.0#0.1#5#2.0# 0.3
ki = 0.0005 #0.005#0.01#0.3#0.1#0.1#1.0 #0.1#0.5#1.0#0.1 #0.5 #0.4 # 0.1 # had k1 here mistake
kd = 0.005 #0.0050#0.01#0.7#1.0# 0.0# 0.5# 1.0#0.1# 0.5 #0.5# 0.1 # 0.1 # 0. # ?? this is how it is in Q+A
mn = 0 #0.01 # 0. # Minimum throttle value ### ?? this is how it is in Q+A
mx = 1.0 #0.3#1.0 # evern as low as 0.05 did not fix the lag from camera on 0.05 #experiemnt using max throttle to limit speed to overcome lag with camera on 1.0#was 0.2 # Maximum throttle value
#at 0.2 it got stuck in site sim! at PID = 1.0
#self.throttle_controller = PID(kp, ki, mn, mx)
self.throttle_controller = PID(kp, ki, kd, mn, mx) #kd was missing....
# I am going to commment the LPF out as it may be casueing trouble
tau = 0.5 # 1/(2pi*tau) = cutoff frequency
ts = 0.02 # sample time
self.vel_lpf = LowPassFilter(tau, ts)
self.vehicle_mass = vehicle_mass # changed back from kwarg becuase one was becoming a string...kwargs['vehicle_mass'] #maybe not best way I could take all the kwargs together at start of thsi section might be easier to read
self.fuel_capacity = fuel_capacity #removed kwargs way as above and same for following #same as above all kwargs added here
self.brake_deadband = brake_deadband
self.decel_limit = decel_limit
self.accel_limit = accel_limit
self.wheel_radius = wheel_radius
self.wheel_base = wheel_base #not currently used
self.steer_ratio = steer_ratio #not currently used
self.max_lat_accel = max_lat_accel #not currently used
self.max_steer_angle = max_steer_angle #not currently used
self.min_speed = min_speed #not currently used
self.last_time = rospy.get_time()
def __init__(self):
rospy.init_node('dbw_node')
vehicle_mass = rospy.get_param('~vehicle_mass', 1736.35)
fuel_capacity = rospy.get_param('~fuel_capacity', 13.5)
brake_deadband = rospy.get_param('~brake_deadband', .1)
decel_limit = rospy.get_param('~decel_limit', -5)
accel_limit = rospy.get_param('~accel_limit', 1.)
wheel_radius = rospy.get_param('~wheel_radius', 0.2413)
wheel_base = rospy.get_param('~wheel_base', 2.8498)
steer_ratio = rospy.get_param('~steer_ratio', 14.8)
max_lat_accel = rospy.get_param('~max_lat_accel', 3.)
max_steer_angle = rospy.get_param('~max_steer_angle', 8.)
self.steer_pub = rospy.Publisher('/vehicle/steering_cmd',
SteeringCmd,
queue_size=1)
self.throttle_pub = rospy.Publisher('/vehicle/throttle_cmd',
ThrottleCmd,
queue_size=1)
self.brake_pub = rospy.Publisher('/vehicle/brake_cmd',
BrakeCmd,
queue_size=1)
# TODO: Subscribe to all the topics you need to
rospy.Subscriber('/current_velocity', TwistStamped,
self.current_velocity_cb)
rospy.Subscriber('/vehicle/dbw_enabled', Bool, self.dbw_enabled_cb)
rospy.Subscriber('/twist_cmd', TwistStamped, self.twist_cmd_cb)
# TODO maybe adjust min_speed
self.frequency = 5
min_speed = 0 # brake_deadband # ??
yawCont = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
veloPID = PID(0.2, 0.001, 0.05, decel_limit, accel_limit)
# TODO: Create `TwistController` object
# self.controller = TwistController(<Arguments you wish to provide>)
self.controller = Controller(veloPID, yawCont)
self.cur_linvel = 0
self.lin_vel = 0
self.ang_vel = 0
self.is_dbw_enabled = False # the simulator comes all the time with the "manual" box ticked
self.throttle_before = 0.0
self.brake_before = 0.0
self.steering_before = 0.0
self.loop()
def __init__(self, kp, ki, kd, max_torque, accel_limit, brake_deadband,
wheel_base, steer_ratio, min_speed, max_lat_accel,
max_steer_angle):
# TODO: Implement
self.max_torque = abs(max_torque)
self.accel_limit = accel_limit
self.brake_deadband = brake_deadband
self.pid = PID(kp, ki, kd, -1, 1)
self.yaw = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
def control(self, tgt_linear, tgt_angular, cur_linear, cur_angular,
dbw_enabled):
if not dbw_enabled:
if self.dbw_enabled:
self.dbw_enabled = False
self.acc_pid.reset()
self.acc_filter.reset()
self.steer_filter.reset()
return 0., 0., 0.
dt = 0.02 # in seconds (~ 50 Hz)
v = max(0., cur_linear)
vel_error = tgt_linear - v
# Get the angle from the yaw_controller
yawcontroller = YawController(self.wheel_base, self.steer_ratio,
ONE_MPH, self.max_lat_accel,
self.max_steer_angle)
steer_raw = yawcontroller.get_steering(tgt_linear, tgt_angular,
cur_linear)
steer = self.steer_filter.filt(steer_raw)
acc_raw = self.acc_pid.step(vel_error, dt)
acc = self.acc_filter.filt(acc_raw)
# If dbw was just activated, we wait for the next call
if not self.dbw_enabled:
self.dbw_enabled = True
return 0., 0., 0.
# drag force due to air
F_drag = 0.4 * v * v
# rolling resistance
c_rr = .01 + 0.005 * pow(v / 28., 2)
F_rr = c_rr * self.vehicle_mass * 9.8
torque = (acc * self.vehicle_mass + F_drag + F_rr) * self.wheel_radius
max_torque = 1000.
# there is a constant bias of throttle we need to correct for
torque -= 0.02 * max_torque
if acc > 0:
throttle = min(.25, max(torque, 0.) / max_torque)
brake = 0.
else:
brake = max(0., -torque)
# for idle state, we apply a small constant brake :
if tgt_linear < 0.01:
brake = 10.
throttle = 0.0
# rospy.logdebug("throttle : %s %s %s %s", throttle, acc, cur_linear, brake)
# Return throttle, brake, steer
return throttle, brake, steer
def __init__(self, wheel_base, steer_ratio, min_speed, max_lat_accel,
max_steer_angle):
# Init controllers
self.pid = PID(1, 0.4, 0)
self.yaw_controller = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
self.lowpassFilt = LowPassFilter(0.07, 0.02)
# Save time for delta time calculation
self.previous_time = rospy.get_time()
def __init__(self, *args, **kwargs):
wheel_base = 2.8498
steer_ratio = 14.8
max_lat_accel = 1. # 3.
max_steer_angle = 8.
self.yaw_controller = YawController(wheel_base, steer_ratio, 0.00,
max_lat_accel, max_steer_angle)
self.throttle_pid_controller = PID(5, 0.01, 1)
self.throttle_low_pass_filter = LowPassFilter(.1, 1)
self.steering_pass_filter = LowPassFilter(1, 1)
def __init__(self):
rospy.init_node('dbw_node', log_level=rospy.DEBUG)
vehicle_mass = rospy.get_param('~vehicle_mass', 1736.35)
fuel_capacity = rospy.get_param('~fuel_capacity', 13.5)
brake_deadband = rospy.get_param('~brake_deadband', .1)
decel_limit = rospy.get_param('~decel_limit', -5)
accel_limit = rospy.get_param('~accel_limit', 1.)
wheel_radius = rospy.get_param('~wheel_radius', 0.2413)
wheel_base = rospy.get_param('~wheel_base', 2.8498)
steer_ratio = rospy.get_param('~steer_ratio', 14.8)
max_lat_accel = rospy.get_param('~max_lat_accel', 3.)
max_steer_angle = rospy.get_param('~max_steer_angle', 8.)
self.steer_pub = rospy.Publisher('/vehicle/steering_cmd',
SteeringCmd,
queue_size=1)
self.throttle_pub = rospy.Publisher('/vehicle/throttle_cmd',
ThrottleCmd,
queue_size=1)
self.brake_pub = rospy.Publisher('/vehicle/brake_cmd',
BrakeCmd,
queue_size=1)
self.current_velocity = None
self.dbw_enabled = False
self.twist_cmd = None
self.rate = 10 # 10Hz
self.sample_time = 1. / self.rate
# Create YawController object
self.yaw_controller = YawController(wheel_base, steer_ratio, 1.0,
max_lat_accel, max_steer_angle)
# TODO: Create `TwistController` object
self.controller = Controller(self.yaw_controller, vehicle_mass,
wheel_radius)
# TODO: Subscribe to all the topics you need to
rospy.Subscriber('/current_velocity',
TwistStamped,
self.current_velocity_cb,
queue_size=1)
rospy.Subscriber('/vehicle/dbw_enabled',
Bool,
self.dbw_enabled_cb,
queue_size=1)
rospy.Subscriber('/twist_cmd',
TwistStamped,
self.twist_cmd_cb,
queue_size=1)
self.loop()
def __init__(self, wheel_base, steer_ratio, min_speed, max_lat_accel,
max_steer_angle, v_mass, d_accel, wheel_radius):
# PID controller for velocity
self.vel_pid_ = PID(0.1, 0.0001, 0.0, mn=-2, mx=1)
# Yaw controller buit by Udacity
self.yaw_controller_ = YawController(wheel_base, steer_ratio,
min_speed, max_lat_accel,
max_steer_angle)
self.max_decel = v_mass * (-d_accel) * wheel_radius
self.k_decel = 1750
def __init__(self, *args, **kwargs): self.yaw_controller = YawController(kwargs['wheel_base'], kwargs['steer_ratio'], kwargs['min_speed'] + ONE_MPH, kwargs['max_lat_accel'], kwargs['max_steer_angle']) self.steering_controller = PID(0.5, 0.05, 0.1, -0.35, 0.35) self.min_speed = kwargs['min_speed'] self.prev_time = rospy.get_time() self.brake_deadband = kwargs['brake_deadband'] self.total_mass = kwargs['vehicle_mass'] + kwargs['fuel_capacity']*GAS_DENSITY self.wheel_radius = kwargs['wheel_radius'] self.accel_limit = kwargs['accel_limit'] self.decel_limit = kwargs['decel_limit']
def __init__(self, *args, **kwargs):
# TODO: Implement
# linear velocity controller
self.longitudinal = PID(kp=0.4, ki=0.001, kd=0.1, mn=kwargs['decel_limit'], mx=kwargs['accel_limit'])
# angular velocity controller
self.lateral = YawController(wheel_base=kwargs['wheel_base'],
steer_ratio=kwargs['steer_ratio'],
min_speed=0,
max_lat_accel=kwargs['max_lat_accel'],
max_steer_angle=kwargs['max_steer_angle'])
# low-pass filter not used not
self.LPF = LowPassFilter(tau=1, ts=1)
def __init__(self, wheel_base, steer_ratio, max_lat_accel, max_steer_angle,
decel_limit, vehicle_mass, wheel_radius):
self.yaw_control = YawController(wheel_base, steer_ratio, 0.1,
max_lat_accel, max_steer_angle)
self.throttel_control = PID(0.3, 0.1, 0.001, 0., 1.)
self.filter = LowPassFilter(0.5, 0.02)
self.last_step = rospy.get_time()
self.decel_limit = decel_limit
self.vehicle_mass = vehicle_mass
self.wheel_radius = wheel_radius
def __init__(self, wheel_base, steer_ratio, min_speed, max_lat_accel,
max_steer_angle, decel_limit, accel_limit):
# TODO: Implement
self.YawController = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
# self.PID = PID(0.9, 0.0005, 0.075, decel_limit, accel_limit)
self.PID = PID(4.0, 0.001, 0.05, decel_limit, accel_limit)
self.low_pass_filer_vel = LowPassFilter(10.0, 1.0)
self.lastT = None
self.last_dbw_enabled = False
def __init__(self, vehicle_mass, fuel_capacity, brake_deadband,
decel_limit, accel_limit, wheel_radius, wheel_base,
steer_ratio, max_lat_accel, max_steer_angle):
min_speed = 1.0 * ONE_MPH
self.pid = PID(2.0, 0.4, 0.1)
self.lpf = LowPassFilter(0.5, 0.02)
self.yaw = YawController(wheel_base, steer_ratio, min_speed,
max_lat_accel, max_steer_angle)
self.v_mass = vehicle_mass
self.w_radius = wheel_radius
self.d_limit = decel_limit
self.last_time = None
def __init__(self, *args, **kwargs):
self.throttle_pid = PID(kwargs['throttleKsOfPid'])
self.yaw_control = YawController(kwargs['wheelBase'], kwargs['steerRatio'],
kwargs['minimumSpeed'], kwargs['maximumLateralAcceleration'],
kwargs['maximumSteeringAngle'],
kwargs['steeringKsOfPid']
)
self.lastTime = None
self.accelerationLimit = kwargs['accelerationLimit']
self.deaccelerationLimit = kwargs['deaccelerationLimit']
self.filter = LowPassFilter(0.2,0.1)
def __init__(self, ps):
self.yaw_controller = YawController(ps.wheel_base, ps.steer_ratio, 0.1,
ps.max_lat_accel,
ps.max_steer_angle)
#Init params, PID, and filters
self.ps = ps
self.driverless_mass = self.ps.vehicle_mass + self.ps.fuel_capacity * GAS_DENSITY
self.pid_steer = PID(.5, .0025, .25, -ps.max_steer_angle,
ps.max_steer_angle)
self.last_cte = 0
self.p1 = .0001
self.p2 = .0001
def __init__(self, car_params): self.car_params = car_params self.lpf_accel = LowPassFilter(tau = 0.5, ts = 0.02) self.accel_pid = PID(kp = 0.4, ki = 0.1, kd = 0.0, mn = 0.0, mx = 1.0) self.speed_pid = PID(kp = 2.0, ki = 0.0, kd = 0.0, mn = car_params.decel_limit, mx = car_params.accel_limit) self.yaw_control = YawController(car_params.wheel_base, car_params.steer_ratio, 4. * ONE_MPH, car_params.max_lat_accel, car_params.max_steer_angle) self.prev_velocity = 0
