From 910a8504416afd41eb87114af675f9f5f06bac96 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 07:56:45 -0600 Subject: [PATCH] Cap rotation speed to ~45 deg/s (was ~230 deg/s) Full stick range now maps to 0-45 deg/s for fine control. 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 87f1bb1..4553539 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 @@ -518,7 +518,7 @@ class GamepadManager : public InputInterface { // Analog sticks - facing and movement direction if (std::abs(rx_) > dead_zone_ || std::abs(ry_) > dead_zone_) { - planner_facing_angle_ = planner_facing_angle_ - 0.02 * rx_; + planner_facing_angle_ = planner_facing_angle_ - 0.004 * rx_; // ~45°/s max at full stick if constexpr (DEBUG_LOGGING) { std::cout << "[GamepadManager DEBUG] Right stick - Facing angle: " << planner_facing_angle_ << " rad" << std::endl; }