From 38a627fde40df452bfffa98f4e37b479c20a9377 Mon Sep 17 00:00:00 2001
From: Ethan <jiaao@student.unimelb.edu.au>
Date: Tue, 21 May 2024 12:47:41 +0800
Subject: [PATCH] time constrain
---
catkin_ws/src/asclinic_pkg/src/Kalman.cpp | 13 ++++++++++---
catkin_ws/src/asclinic_pkg/src/fcontroller1.cpp | 2 +-
2 files changed, 11 insertions(+), 4 deletions(-)
diff --git a/catkin_ws/src/asclinic_pkg/src/Kalman.cpp b/catkin_ws/src/asclinic_pkg/src/Kalman.cpp
index f5b3ccf4..678c87ec 100644
--- a/catkin_ws/src/asclinic_pkg/src/Kalman.cpp
+++ b/catkin_ws/src/asclinic_pkg/src/Kalman.cpp
@@ -19,7 +19,9 @@ float x = -1, y = -3, phi = 0.0;/////////////////////////////////////////////
int left_p = 1, right_p = 1;
ros::Time time_previous, time_now; // Timing variables
ros::Duration elapsed_time; // Duration to calculate elapsed time
-
+ros::Time constrain_time;
+ros::Time begin_time;
+ros::Duration constrain_duration;
double time_float; // Floating-point representation of elapsed time
@@ -122,7 +124,12 @@ void answer(const asclinic_pkg::LeftRightInt32& msg) {
void ImageAnswer(const asclinic_pkg::position& msg) {
-
+ constrain_time = ros::Time::now();
+ constrain_duration = constrain_time - begin_time;
+ float temp_value = constrain_duration.toSec();
+ if (temp_value<30) {
+ return;
+ }
// Check if elapsed time is less than 0.5 seconds
if (authority ==0) {
return;
@@ -218,7 +225,7 @@ int main(int argc, char **argv) {
ros::init(argc, argv, "Kalman");
std::string ns_for_group = ros::this_node::getNamespace();
ros::NodeHandle nh(ns_for_group);
-
+ begin_time = ros::Time::now();
// Initialize time_now to current time
time_now = ros::Time::now();
diff --git a/catkin_ws/src/asclinic_pkg/src/fcontroller1.cpp b/catkin_ws/src/asclinic_pkg/src/fcontroller1.cpp
index 60daafa6..376db272 100644
--- a/catkin_ws/src/asclinic_pkg/src/fcontroller1.cpp
+++ b/catkin_ws/src/asclinic_pkg/src/fcontroller1.cpp
@@ -58,7 +58,7 @@ float w_now = 0;
float v_now = 0;
int state_value = 2; // 0 is forward, 1 is rotate , 2 is pending
-float initial_pwm = 24;
+float initial_pwm = 25;
//initial 26.5
void straightline(const asclinic_pkg::vw& vw_msg) {
--
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