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clamp differential drive throttle and steering #983

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Jan 30, 2022
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clamp differential drive throttle and steering #983

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8 changes: 6 additions & 2 deletions donkeycar/parts/actuator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -764,9 +764,13 @@ def run(self, throttle:float, steering:float) -> Tuple[float, float]:
where 1 is full forward and -1 is full backwards.
"""
if throttle > 1 or throttle < -1:
raise ValueError( "throttle must be between 1(forward) and -1(reverse)")
logger.warn( f"throttle is {throttle}, but it must be between 1(forward) and -1(reverse)")
if steering > 1 or steering < -1:
raise ValueError( "steering must be between 1(right) and -1(left)")
logger.warn( f"steering is {steering}, but it must be between 1(right) and -1(left)")

from donkeycar.utils import clamp
throttle = clamp(throttle, -1, 1)
steering = clamp(steering, -1, 1)

left_motor_speed = throttle
right_motor_speed = throttle
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