Vehicle-cpp/zjw/workspace/SlagPotCarrier_ws/config/motionConfig.json

{
    "SpdMax":1,
    "L_F":0.5325,
    "L_R":5.75,
    "L_F2":0.7096,
    "L_R2":5.6,
    "L_Pot":4.5,
    "HingeAngAcc":1,
    "SpdAccMax":6,
    "SpdDecMax":0.2,
    "CreepDis":0.9,
    "CreepSpd":0.3,
    "CreepStopDis":0.6,
    "HingeRotSpdMax_straight":0.8,
    "HingeRotSpdMax_turn":2,
    "StraightAngMax":6,
    "uncorrectedLatErrMax":0.05,
    "uncorrectedDiffHeading":1,

    "pp_Kv":0.1,
    "pp_Kp":0.8,
    "pp_Ld0":15,

    "stly_Kp":1.0,
    "stly_turn_angle_min":0.5,
    "stly_K_1_0":0.1,
    "stly_K_1_5":0.15,
    "stly_K_2_0":0.2,
    "stly_K_2_5":0.25,
    "stly_K_3_0":0.3,
    "stly_K_3_5":0.35,
    "stly_K_4_0":0.4,
    "stly_K_4_5":0.45,
    "stly_K_5_0":0.5,
    "stly_K_5_5":0.55,
    "stly_K_6_0":0.6,
    "stly_K_6_5":0.65,

    "lqr_Q_0_0_1_0":10,
    "lqr_Q_0_0_5_0":50,
    "lqr_Q_0_1_0_0":100,
    "lqr_Q_0_1_5_0":150,
    "lqr_Q_0_2_0_0":200,
    "lqr_Q_0_2_5_0":250,
    "lqr_Q_0_3_0_0":300,
    "lqr_Q_0_3_5_0":350,
    "lqr_Q_0_4_0_0":400,
    "lqr_Q_0_4_5_0":450,
    "lqr_Q_0_5_0_0":500,
    "lqr_Q_0_5_5_0":550,
    "lqr_Q_0_6_0_0":60,
    "lqr_Q_0_6_5_0":650,
    "lqr_Q_0_7_0_0":700,
    "lqr_Q_0_7_5_0":750,
    "lqr_Q_0_8_0_0":800,
    "lqr_Q_0_8_5_0":850,
    "lqr_Q_0_9_0_0":900,
    "lqr_Q_0_9_5_0":950,
    "lqr_Q_1_0_0_0":1000,

    "lqr_R_0_0_0_2":2,
    "lqr_R_0_0_0_3":3,
    "lqr_R_0_0_0_4":4,
    "lqr_R_0_0_0_5":5,
    "lqr_R_0_0_0_6":6,
    "lqr_R_0_0_0_7":7,
    "lqr_R_0_0_0_8":8,
    "lqr_R_0_0_0_9":9,
    "lqr_R_0_0_1_0":10,
    "lqr_R_0_0_1_1":11,
    "lqr_R_0_0_1_2":12,
    "lqr_R_0_0_1_3":13,
    "lqr_R_0_0_1_4":14,
    "lqr_R_0_0_1_5":15,
    "lqr_R_0_0_1_6":16,
    "lqr_R_0_0_1_7":17,
    "lqr_R_0_0_1_8":18,
    "lqr_R_0_0_1_9":19,
    "lqr_R_0_0_2_0":20
 }