Can't set max accel and decel below 0.5
Can't set max accel and decel below 0.5
I'm having a problem setting the maximum acceleration and deceleration rates. I can change the values to anything above 0.5 m/s^2 and clearly see the values change in the fram_accel_limit_mps2 and fram_decel_limit_mps2 feedback items. However, when I try to set it below 0.5 m/s^2 the feedback always comes back saying the limit is set to 0.4909999... m/s^2. The CCU Interface Document says these values can be set as low as 0. So far, we're using velocity mapping for control and 0.5m/s^2 is too much for our purposes. Any idea why we can't set the accel and decel values below 0.5? Thanks!
Re: Can't set max accel and decel below 0.5
The minimum acceleration and deceleration is set to 0.05 g (0.4909999 m/s^2) to prevent the user from accidentally setting it to zero. This value was determined by 2 factors,
1. To allow for reasonable coastdown acceleration for acceleration based input mapping
2. At the max speed for static systems the minimum deceleration would result in a 64m stopping distance.
Future updates may clamp the minimum acceleration to get a minimum stopping distance for a given maximum velocity. This has not been implemented yet.
1. To allow for reasonable coastdown acceleration for acceleration based input mapping
2. At the max speed for static systems the minimum deceleration would result in a 64m stopping distance.
Future updates may clamp the minimum acceleration to get a minimum stopping distance for a given maximum velocity. This has not been implemented yet.
Re: Can't set max accel and decel below 0.5
Thanks for the clarification. Once we did more driving around outside it turns out 0.5m/s^2 was just right for accel and a bit slow for decel. I think scaling according to max velocity is an excellent idea by the way.
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