Update SpeedRegulator.update()

motors_control_card/firmware/src/regulator/SpeedRegulator.cpp

@@ -33,20 +33,20 @@ void SpeedRegulator::update(double dt)
 {
     if (m_linearSpeedCmd > m_linearSpeedTarget)
     {
-        m_linearSpeedCmd = fmax(m_linearSpeedTarget, m_linearSpeedCmd - LIN_SPEED_DECELERATION_MAX * dt);
+        m_linearSpeedCmd = fmax(m_linearSpeedTarget, m_linearSpeedCmd - m_linearSpeedDecelerationMax * dt);
     }
     else if (m_linearSpeedCmd < m_linearSpeedTarget)
     {
-        m_linearSpeedCmd = fmin(m_linearSpeedTarget, m_linearSpeedCmd + LIN_SPEED_ACCELERATION_MAX * dt);
+        m_linearSpeedCmd = fmin(m_linearSpeedTarget, m_linearSpeedCmd + m_linearSpeedAccelerationMax * dt);
     }
 
     if (m_angularSpeedCmd > m_angularSpeedTarget)
     {
-        m_angularSpeedCmd = fmax(m_angularSpeedTarget, m_angularSpeedCmd - ANG_SPEED_DECELERATION_MAX * dt);
+        m_angularSpeedCmd = fmax(m_angularSpeedTarget, m_angularSpeedCmd - m_angularSpeedDecelerationMax * dt);
     }
     else if (m_angularSpeedCmd < m_angularSpeedTarget)
     {
-        m_angularSpeedCmd = fmin(m_angularSpeedTarget, m_angularSpeedCmd + ANG_SPEED_ACCELERATION_MAX * dt);
+        m_angularSpeedCmd = fmin(m_angularSpeedTarget, m_angularSpeedCmd + m_angularSpeedAccelerationMax * dt);
     }
 
     m_leftMotorPid.setSetpoint(m_linearSpeedCmd - m_angularSpeedCmd * (m_odometer.getGeometry().wheelbaseNominal / 2.0));