Re-clamp follow cruise each tick through safety zones - #64
Merged
Conversation
Store the requested follow speed and re-apply safety.max_speed / zone envelopes before every simulator tick so cruise drops when entering slower zones.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
follow(path:)stores the requested cruise and re-appliesmax_speed/ zone caps before every simulator tick.safety_zonenow reduces cruise (regression test included).Test plan
cargo test -p spanda-interpreter --test safety_clamp_runtimeMade with Cursor