scan lines

Author: oxkitsune

deploy/config/localization.toml

@@ -14,9 +14,9 @@ elongation_factor = 1.5
 # Variance of the odometry
 odometry_variance = [0.05, 0.025, 0.01]
 # Variance of the line measurement
-line_measurement_variance = [1000.0, 320.0]
+line_measurement_variance = [3000.0, 1000.0]
 # Variance of the circle measurement
-circle_measurement_variance = [1000.0, 1000.0]
+circle_measurement_variance = [3000.0, 3000.0]
 # Initial pose variance of a new hypothesis
 variance_initial = [0.01, 0.01, 0.01]
 # Initial score of a new hypothesis

deploy/config/overlay/sam/walking_engine.toml

@@ -0,0 +1,14 @@
+[balancing]
+# The amount to swing the arms based on the forward movement.
+arm_swing_multiplier = 0.6
+
+# The alpha parameter used for the low pass filter over the gyroscope values.
+#
+# Higher values mean that the filtered gyroscope value responds to changes quicker,
+# and lower values mean that it responds slower.
+gyro_lpf_alpha = 0.6
+
+# The weight of the balance adjustment based on the y gyroscope value.
+# Increasing this value will use a larger portion of the filtered gyro value
+# to adjust the pitch of the robot's ankles, in order to balance the pendulum motion.
+filtered_gyro_y_multiplier = 0.1

deploy/config/walking_engine.toml

@@ -99,7 +99,7 @@ arm_swing_multiplier = 0.6
 #
 # Higher values mean that the filtered gyroscope value responds to changes quicker,
 # and lower values mean that it responds slower.
-gyro_lpf_alpha = 0.7
+gyro_lpf_alpha = 0.6
 
 # The weight of the balance adjustment based on the y gyroscope value.
 # Increasing this value will use a larger portion of the filtered gyro value