increased maximum dt

SleipnirGroup · Oct 29, 2023 · 6f3cc83 · 6f3cc83
1 parent 72e34f2
commit 6f3cc83
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/optimization/SwerveTrajoptUtil.inc b/src/optimization/SwerveTrajoptUtil.inc
@@ -86,7 +86,7 @@ void ApplyKinematicsConstraints(
       auto ay_n = ay.at(idx);
       auto alpha_n = alpha.at(idx);
       opti.SubjectTo(dt_n >= 0);
-      opti.SubjectTo(dt_n <= 0.1);
+      opti.SubjectTo(dt_n <= 0.2);
       opti.SubjectTo(x_n_1 + vx_n * dt_n == x_n);
       opti.SubjectTo(y_n_1 + vy_n * dt_n == y_n);
       opti.SubjectTo(theta_n_1 + omega_n * dt_n == theta_n);