BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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changed minor parameters

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Kayman 2017-08-09 17:49:51 +09:00
parent 8bea58b304
commit b92467cbfd
2 changed files with 3 additions and 3 deletions
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4
op3_demo/src/soccer/ball_follower.cpp
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@ -48,7 +48,7 @@ BallFollower::BallFollower()
NOT_FOUND_THRESHOLD(50),
MAX_FB_STEP(40.0 * 0.001),
MAX_RL_TURN(15.0 * M_PI / 180),
IN_PLACE_FB_STEP(0.0 * 0.001),
IN_PLACE_FB_STEP(-3.0 * 0.001),
MIN_FB_STEP(5.0 * 0.001),
MIN_RL_TURN(5.0 * M_PI / 180),
UNIT_FB_STEP(1.0 * 0.001),
@ -217,7 +217,7 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
distance_to_ball *= (-1);
//double distance_to_kick = 0.25;
double distance_to_kick = 0.15;
double distance_to_kick = 0.22;
// check whether ball is correct position.
if ((distance_to_ball < distance_to_kick) && (fabs(ball_x_angle) < 25.0))

2
op3_demo/src/vision/face_tracker.cpp
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@ -149,7 +149,7 @@ int FaceTracker::processTracking()
face_position_.z = 0;
count_not_found_ = 0;
double p_gain = 0.5, d_gain = 0.25;
double p_gain = 0.6, d_gain = 0.25;
double x_error_diff = x_error - current_face_pan_;
double y_error_diff = y_error - current_face_tilt_;
double x_error_target = x_error * p_gain + x_error_diff * d_gain;