Commit f4b2d9f3 authored by Ievgen Strepkov's avatar Ievgen Strepkov
Browse files

Fixed constant in SteeringControl

parent efdb6b73
...@@ -13,6 +13,9 @@ component SteeringControl { ...@@ -13,6 +13,9 @@ component SteeringControl {
implementation Math{ implementation Math{
Q(0m:2m) threshold = 0.1m;
Q(-2m:0m) thresholdN = -0.1m;
B comp1 = ( ((fl-fr) > threshold) && ((slf-slb) > threshold) ) && ((srb-srf) > threshold); B comp1 = ( ((fl-fr) > threshold) && ((slf-slb) > threshold) ) && ((srb-srf) > threshold);
B comp2 = ( ((fl-fr) < thresholdN) && ((slf-slb) < thresholdN) ) && ((srb-srf) < thresholdN); B comp2 = ( ((fl-fr) < thresholdN) && ((slf-slb) < thresholdN) ) && ((srb-srf) < thresholdN);
B comp3 = (slf<slb) && (srf<srb); B comp3 = (slf<slb) && (srf<srb);
......
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