Commit a4c068a9 authored by Ievgen Strepkov's avatar Ievgen Strepkov
Browse files

Uncommented the part of the SteeringControl model

parent 11b60892
......@@ -16,9 +16,9 @@ component SteeringControl {
Q(0m:2m) threshold = 0.1m;
Q(-2m:0m) thresholdN = -0.1m;
//B comp1 = (((fl-fr) > threshold) && ((slf-slb) > threshold)) && ((srb-srf) > threshold);
//B comp2 = (((fl-fr) < thresholdN) && ((slf-slb) < thresholdN)) && ((srb-srf) < thresholdN);
//B comp3 = (slf<slb) && (srf<srb);
B comp1 = (((fl-fr) > threshold) && ((slf-slb) > threshold)) && ((srb-srf) > threshold);
B comp2 = (((fl-fr) < thresholdN) && ((slf-slb) < thresholdN)) && ((srb-srf) < thresholdN);
B comp3 = (slf<slb) && (srf<srb);
Q(0°:-1°) resComp3 = 0°;
if comp3 {
......
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