How to change minimum operating velocity/speed of Racecar to operate at lower speeds of 0.1 or 0.001 m/s

[AmeyHande]

Hello Everyone,
I working on to integrate Teb_Local_Planner (Ackermann Steering Planner) with MIT-Racecar configuration. But Racecar is not moving for Ackermann Speed commands lower than 0.23-0.24 m/s in any direction and for ackermann's planning in tight locations Speed profile is lower than that value most of the times. I wanted to know how parameters values or source code can be modified to make Racecar operate on lowest possible speeds.

Thank You,
Amey Hande

[andrewthombra20]

Hello Amey,

I think this setting has to be modified in the vesc tool. By default when i ran my tests, i noticed that the motors started turning at a minimum of 900 eRPM. But unfortunately I do not know where this minimum operating parameter is in VESC tool.

[mbudris]

It is in settable in the VESC tool. If you are doing speed control with pid, you can find it in speed controller pid settings.