rover的控制方式:
- the L1 controller converts an origin and destination (each expressed as a latitude, longitude) into a lateral acceleration to make the vehicle travel along the path from the origin to the destination. This lateral acceleration is then passed into the steering controller.
先根据目标点和初始点生成转向速度 - the steering controller can convert a desired lateral acceleration, a angle error or a desired turn rate into a steering output command (expressed as a number in the range -4500 to +4500) that should be fed into the motor library (see AR_MotorsUGV.h)
转向控制器能够吧一个期望的侧向加速,角度偏差和期望的转向速度转换成输出的指令,范围子啊-4500~4500之间的数值, - the throttle controller can convert a desired speed into a throttle command (expressed as a number from -100 to +100) that should be fed into the motor libra