Fix speed control so 0 turns it off; retune turn secondary values for turn

Author: ksiegall

XRPLib/differential_drive.py

@@ -246,7 +246,7 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No
         # Secondary controller to keep encoder values in sync
         if secondary_controller is None:
             secondary_controller = PID(
-                kp = 0.002,
+                kp = 0.0175,
             )
 
         if use_imu and (self.imu is not None):

XRPLib/encoded_motor.py

@@ -115,15 +115,16 @@ def get_speed(self) -> float:
     def set_speed(self, speed_rpm: float = None):
         """
         Sets target speed (in rpm) to be maintained passively
-        Call with no parameters to turn off speed control
+        Call with no parameters or 0 to turn off speed control
 
         :param target_speed_rpm: The target speed for the motor in rpm, or None
         :type target_speed_rpm: float, or None
         """
-        if speed_rpm is None:
+        if speed_rpm is None or speed_rpm == 0:
             self.target_speed = None
             self.set_effort(0)
             self.speed = 0
+            self.updateTimer.deinit()
             return
         # If the update timer is not running, start it at 50 Hz (20ms updates)
         self.updateTimer.init(period=20, callback=lambda t:self._update())

XRPLib/resetbot.py

@@ -11,7 +11,7 @@
 # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init
 for i in range(4):
     motor = EncodedMotor.get_default_encoded_motor(i+1)
-    motor.set_effort(0)
+    motor.set_speed(0)
     motor.reset_encoder_position()
 
 # Turn off the on-board LED