From: Erik Andresen <erik@vontaene.de>
Date: Sat, 16 Jul 2016 13:10:45 +0000 (+0200)
Subject: pid tuning with fixes
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=6dd2756b82c8c2b5a1e42fb120ba58e86f19d02d

pid tuning with fixes
---

diff --git a/data/motor_ctrl_pid_values.ods b/data/motor_ctrl_pid_values.ods
index 3f10ca9..543fa45 100644
Binary files a/data/motor_ctrl_pid_values.ods and b/data/motor_ctrl_pid_values.ods differ
diff --git a/scripts/record_pid_run.sh b/scripts/record_pid_run.sh
new file mode 100755
index 0000000..5d4c991
--- /dev/null
+++ b/scripts/record_pid_run.sh
@@ -0,0 +1,20 @@
+#!/bin/sh
+
+# go
+rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.3, 0, 0]' '[0, 0, 0]' > /dev/null &
+
+sleep 1
+
+# start record
+rostopic echo /odom/twist/twist/linear/x > /tmp/velocity.txt &
+echoid=$!
+
+# done record
+sleep 15
+kill $echoid
+
+# stop
+rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]' > /dev/null &
+
+# print info
+$(rospack find wild_thumper)/scripts/get_velocity.py /tmp/velocity.txt