From 67b8ebbd55e360a43b416285247ce8ed4f7d7ae8 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Sun, 22 Feb 2026 22:51:05 -0600 Subject: [PATCH] Slow acceleration ramp to ~4s (was 2s) Co-Authored-By: Claude Opus 4.6 --- .../include/input_interface/gamepad_manager.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp index f7d8966..87f1bb1 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp @@ -709,7 +709,7 @@ class GamepadManager : public InputInterface { double normalized = std::min((planner_stick_magnitude_ - dead_zone_) / (1.0 - dead_zone_), 1.0); double target_speed = normalized * 0.8; // 0.0 at dead zone edge, 0.8 at full stick // Rate-limit acceleration only (decel is instant) - constexpr double max_accel_per_frame = 0.002; // ~2s ramp 0→0.8 at 200Hz + constexpr double max_accel_per_frame = 0.001; // ~4s ramp 0→0.8 at 200Hz if (target_speed > smoothed_speed_) { smoothed_speed_ = std::min(target_speed, smoothed_speed_ + max_accel_per_frame); } else {