Revision: 7130
http://playerstage.svn.sourceforge.net/playerstage/?rev=7130&view=rev
Author: natepak
Date: 2008-11-12 20:26:48 +0000 (Wed, 12 Nov 2008)
Log Message:
-----------
Reduced the force applied to the tilt angle
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
Modified: code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
===================================================================
--- code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
2008-11-12 19:38:15 UTC (rev 7129)
+++ code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
2008-11-12 20:26:48 UTC (rev 7130)
@@ -62,7 +62,7 @@
this->panJointNameP = new ParamT<std::string>("panJoint", "", 1);
this->tiltJointNameP = new ParamT<std::string>("tiltJoint", "", 1);
this->motionGainP = new ParamT<double>("motionGain",2,0);
- this->forceP = new ParamT<double>("force",0.1,0);
+ this->forceP = new ParamT<double>("force",0.01,0);
Param::End();
}
@@ -156,11 +156,10 @@
this->cmdPan = -M_PI*0.3;
// Apply limits on commanded zoom
- /*if (this->cmdZoom < this->zoomMin)
- this->cmdZoom = this->zoomMin;
- if (this->cmdZoom > this->zoomMax)
- this->cmdZoom = this->zoomMax;
- */
+ //if (this->cmdZoom < this->zoomMin)
+ // this->cmdZoom = this->zoomMin;
+ //if (this->cmdZoom > this->zoomMax)
+ // this->cmdZoom = this->zoomMax;
// Set the pan and tilt motors; can't set angles so track cmds with
// a proportional control
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