finish mpc

Author: Patrick8894

GEMstack/knowledge/routes/backward_curve.csv

@@ -2,5 +2,19 @@
 -1.0,0,0
 -2.0,0.2,0
 -3.0,0.4,0
--4,0.6,0
--5,0.8,0
+-4.0,0.6,0
+-5.0,0.8,0
+-6.0,1.0,0
+-7.0,1.2,0
+-8.0,1.4,0
+-9.0,1.6,0
+-10.0,1.8,0
+-11.0,2.0,0
+-12.0,2.2,0
+-13.0,2.4,0
+-14.0,2.6,0
+-15.0,2.8,0
+-16.0,3.0,0
+-17.0,3.2,0
+-18.0,3.4,0
+-19.0,3.6,0

GEMstack/knowledge/vehicle/gem_e2_slow_limits.yaml

@@ -1,8 +1,8 @@
-max_steering_rate: 2.0       #radians/s
-max_speed: 2.5   #m/s, approx 5pmh
-max_reverse_speed: 0.25   #m/s, approx 1mph
-max_acceleration: 1.0   #m/s^2
-max_deceleration: 2.0   #m/s^2
-max_accelerator_pedal: 0.5   #0-1
-max_brake_pedal: 0.5         #0-1
-
+max_steering_rate: 2.0       #radians/s
+max_speed: 2.5   #m/s, approx 5pmh
+max_reverse_speed: 0.25   #m/s, approx 1mph
+max_acceleration: 1.0   #m/s^2
+max_deceleration: 2.0   #m/s^2
+max_accelerator_pedal: 0.5   #0-1
+max_brake_pedal: 0.5         #0-1
+