pbio/drivebase: Tweak defaults.

Adjusts default turn speed and acceleration for better results for most use cases.

Author: laurensvalk

lib/pbio/src/drivebase.c

@@ -47,6 +47,11 @@ static pbio_error_t drivebase_adopt_settings(pbio_control_settings_t *s_distance
     // By default, heading control is the same as distance control
     *s_heading = *s_distance;
 
+    // Allow just slightly more torque for heading. While not technically
+    // necessary under nominal circumstances, it gives the expected perceived
+    // result of one wheel nearly stopping when you block the other.
+    s_heading->max_torque *= 2;
+
     return PBIO_SUCCESS;
 }
 

pybricks/robotics/pb_type_drivebase.c

@@ -71,10 +71,10 @@ STATIC mp_obj_t robotics_DriveBase_make_new(const mp_obj_type_t *type, size_t n_
     pbio_control_settings_get_limits(&self->db->control_distance.settings, &straight_speed_limit, &straight_acceleration_limit, &_, &_);
     pbio_control_settings_get_limits(&self->db->control_heading.settings, &turn_rate_limit, &turn_acceleration_limit, &_, &_);
 
-    self->straight_speed = straight_speed_limit / 3;
-    self->straight_acceleration = straight_acceleration_limit / 3;
-    self->turn_rate = turn_rate_limit / 3;
-    self->turn_acceleration = turn_acceleration_limit / 3;
+    self->straight_speed = straight_speed_limit / 2;
+    self->straight_acceleration = straight_acceleration_limit / 2;
+    self->turn_rate = turn_rate_limit / 4;
+    self->turn_acceleration = turn_acceleration_limit / 4;
 
     return MP_OBJ_FROM_PTR(self);
 }