Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4875
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* Add acceleration constraints Signed-off-by: RBT22 <[email protected]> * Cleanup code Signed-off-by: RBT22 <[email protected]> * Format code Signed-off-by: RBT22 <[email protected]> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <[email protected]> * Remove vel pointer Signed-off-by: RBT22 <[email protected]> * Use the limits only if both of them is set Signed-off-by: RBT22 <[email protected]> * Fix onActionCompletion params Signed-off-by: RBT22 <[email protected]> * Add default acc params and change decel sign Signed-off-by: RBT22 <[email protected]> * Add minimum speed parameter Signed-off-by: RBT22 <[email protected]> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <[email protected]> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <[email protected]> * Add param sign assert Signed-off-by: RBT22 <[email protected]> * Remove unnecessary param checking Signed-off-by: RBT22 <[email protected]> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <[email protected]> * Fix sign checking condition Signed-off-by: RBT22 <[email protected]> * Replace throwing with silent sign correction Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]> (cherry picked from commit 2ee3cef)
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Basic Info
Description of contribution in a few bullet points
Added two params:
acceleration_limitanddeceleration_limitfor DriveOnHeading and BackUp behaviors.Description of documentation updates required from your changes
Added new parameter, so need to add that to default configs and documentation page
Future work that may be required in bullet points
For Maintainers:
This is an automatic backport of pull request #4810 done by [Mergify](https://mergify.com).