suitable pyglet version after any update is pyglet==1.5.16 pip install opencv-python==4.6.0.66 Orin AGX
I upgraded to CUDA 11.8 -
Then I built this fork of bitsandbytes -
Mentioned in this issue -
in protocol_pro.cpp
double gradual_adjust(double current_speed, double target_speed) {
double ramp_rate = 0.1; // Adjust this rate to control how quickly the speed adjusts
if (current_speed < target_speed) {
return std::min(current_speed + ramp_rate, target_speed);
} else if (current_speed > target_speed) {
return std::max(current_speed - ramp_rate, target_speed);
}
return current_speed; // No change if already at target speed
}
void ProProtocolObject::motors_control_loop(int sleeptime) {
// Existing code setup...
while (true) {
std::this_thread::sleep_for(std::chrono::milliseconds(sleeptime));
// Lock and copy necessary variables from shared status
robotstatus_mutex_.lock();
double desired_speed_left = calculate_desired_speed_left(); // Define this function
double desired_speed_right = calculate_desired_speed_right(); // Define this function
double current_speed_left = motors_speeds_[LEFT_MOTOR];
double current_speed_right = motors_speeds_[RIGHT_MOTOR];
robotstatus_mutex_.unlock();
// Gradually adjust speeds
double new_speed_left = gradual_adjust(current_speed_left, desired_speed_left);
double new_speed_right = gradual_adjust(current_speed_right, desired_speed_right);
// Lock and update motor speeds
robotstatus_mutex_.lock();
motors_speeds_[LEFT_MOTOR] = new_speed_left;
motors_speeds_[RIGHT_MOTOR] = new_speed_right;
robotstatus_mutex_.unlock();
}
}
double ProProtocolObject::calculate_desired_speed_left() {
// Lock mutex to safely access shared command variables
robotstatus_mutex_.lock();
double linear_vel = robotstatus_.cmd_linear_vel; // Commanded linear velocity
double angular_vel = robotstatus_.cmd_angular_vel; // Commanded angular velocity
robotstatus_mutex_.unlock();
// Calculate the left wheel speed based on differential drive kinematics
double wheel_base = wheel2wheelDistance; // This should be set to the actual distance between the wheels
double left_wheel_speed = linear_vel - (angular_vel * wheel_base / 2);
return left_wheel_speed;
}
