Behavior Modulation

Behavior Modulation#

Schema#

$id: http://navground/behavior_modulation
$ref: behavior_modulation_register
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  enabled:
    type: boolean
  type:
    type: string
type: object
unevaluatedProperties: false

Register#

$id: http://navground/behavior_modulation_register
$schema: https://json-schema.org/draft/2020-12/schema
anyOf:
- properties:
    max_acceleration:
      default: .inf
      description: Maximal acceleration
      type: number
    max_angular_acceleration:
      default: .inf
      description: Maximal angular acceleration
      type: number
    type:
      const: LimitAcceleration
- properties:
    angular:
      default: .inf
      description: Maximal angular speed
      type: number
    backward:
      default: .inf
      description: Maximal backward speed
      type: number
    forward:
      default: .inf
      description: Maximal forward speed
      type: number
    leftward:
      default: .inf
      description: Maximal leftward speed
      type: number
    rightward:
      default: .inf
      description: Maximal rightward speed
      type: number
    type:
      const: LimitTwist
- properties:
    k_d:
      default: 0
      description: D
      type: number
    k_i:
      default: 0
      description: I
      type: number
    k_p:
      default: 1
      description: P
      type: number
    type:
      const: MotorPID
- properties:
    tau:
      default: 0.125
      description: Tau
      minimum: 0
      type: number
    type:
      const: Relaxation

Example#

type: Relaxation
enabled: true
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