Hi @Yuri_Rage,
Thanks for that. I can’t immediately find the link to this latest log (I’ve got one for the previous log).
In any case, this delay at the waypoint is caused by a slight overshoot in the speed controller while stopping (it stops too quickly) which has the knock-on effect of causing the SCurve “time scaling” code to slow the SCurves progress. FYI this “time scaling” code is there to deal with situations where the vehicle can’t keep up with the pre-calculated path. It basically slows down the path so the vehicle can catch-up.
If you could reduce CRUISE_THROTTLE from “55” to “50” or maybe even “45” that might reduce the overshoot and the problem might go away.
… in the meantime Leonard suggests we should turn off the time scaling during the braking phase so I will come up with a new version soon which does that.
Txs again for your help with this.