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legop3
2026-01-26 19:53:19 -05:00
parent f7677a443a
commit 48e4ddd090
3 changed files with 4 additions and 1 deletions
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dist/roverd
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dist/servoverifier
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pi/roverd/camera_servo.go
+4 -1
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@@ -174,13 +174,16 @@ func (s *CameraServo) rateLimitAngleLocked(target float64) float64 {
now := time.Now() now := time.Now()
if s.lastMove.IsZero() { if s.lastMove.IsZero() {
s.lastMove = now s.lastMove = now
return target
} }
elapsed := now.Sub(s.lastMove).Seconds() elapsed := now.Sub(s.lastMove).Seconds()
if elapsed <= 0 { if elapsed <= 0 {
s.lastMove = now s.lastMove = now
return s.currentAngle return s.currentAngle
} }
maxElapsed := servoStepInterval.Seconds()
if elapsed > maxElapsed {
elapsed = maxElapsed
}
maxDelta := maxServoDegPerSec * elapsed maxDelta := maxServoDegPerSec * elapsed
delta := target - s.currentAngle delta := target - s.currentAngle
if math.Abs(delta) <= maxDelta { if math.Abs(delta) <= maxDelta {