pwn change and meter information

catkin_ws/src/asclinic_pkg/src/forklift/control_node.cpp

@@ -30,7 +30,7 @@ public:
 };
 
 
-PIDController pid(3, 0, 5);
+PIDController pid(30, 0, 5);
 PIDController pid1(40, 0, 0);
 PIDController pid_v(1.5, 0, 0);
 
@@ -49,7 +49,7 @@ float ref_w = 0;
 float w_now = 0;
 float v_now = 0;
 
-float initial_pwm = 25;
+float initial_pwm = 15;
 //initial 26.5
 void controlOperation(const geometry_msgs::Twist& msg) {
     float flag;
@@ -84,7 +84,7 @@ void pending(){
 void pureRotation(float flag) {
 
     
-    float rotating_pwm = 15;
+    float rotating_pwm = 10;
     float right;
     float left;
     if (flag > 0) {

catkin_ws/src/asclinic_pkg/src/forklift/odometry_new.cpp

@@ -13,7 +13,7 @@ ros::Time time_previous, time_now; // Timing variables
 ros::Duration elapsed_time; // Duration to calculate elapsed time
 
 // Robot's position and orientation variables
-float x = 0.0, y = 0.0, phi = 0.0;
+float x = 0.0, y = 0.0, phi = 0.0, S = 0.0;
 double time_float; // Floating-point representation of elapsed time
 
 
@@ -76,7 +76,7 @@ void answer(const asclinic_pkg::LeftRightInt32& msg) {
     // Calculate the linear displacement and change in orientation
     float dS = (WHEEL_RADIUS_LEFT * deltaThetaL + WHEEL_RADIUS_RIGHT * deltaThetaR) / 2;
     float dPhi = (WHEEL_RADIUS_RIGHT * deltaThetaR - WHEEL_RADIUS_LEFT * deltaThetaL) / (2 * HALF_WHEEL_BASE);
-
+    S += abs(dS);
     // Update position and orientation based on movements
     x += dS * cos(phi + 0.5 * dPhi);
     y += dS * sin(phi + 0.5 * dPhi);
@@ -107,7 +107,7 @@ void answer(const asclinic_pkg::LeftRightInt32& msg) {
     float angular_velocity = dPhi / time_float;
 
     // Log current position and angular velocity
-    ROS_INFO_STREAM("Current Position - X:" << x << ", Y:" << y << ", Phi:" << phi << ", Angular Velocity:" << angular_velocity);
+    ROS_INFO_STREAM("Current Position - X:" << x << ", Y:" << y << ", Phi:" << phi << ", Angular Velocity:" << angular_velocity << ", Total distance:"<< S);