Questions about cruise_speed and cruise_throttle?

ArduRover
1

Dear all,

Can cruise_speed and cruise_throttle be assigned as negative values? If so, What will the rover act?

The code is as the following:

// estimate maximum vehicle speed (in m/s)
float Mode::calc_speed_max(float cruise_speed, float cruise_throttle)
{ EXECUTE_MARK();
float speed_max;

// sanity checks
if (cruise_throttle > 1.0f || cruise_throttle < 0.05f) {  EXECUTE_MARK();
    speed_max = cruise_speed;
} else {  EXECUTE_MARK();
    // project vehicle's maximum speed
    speed_max = (1.0f / cruise_throttle) * cruise_speed;
}

// constrain to 30m/s (108km/h) and return
return constrain_float(speed_max, 0.0f, 30.0f);

}

Thank you very much for you reply.

2

no they shouldn’t be negative, the code is base on forward movement is positive speed

3

Thank you, khancyr. But what will happen if the user set it as negative?