Compute acceleration and deceleration commands that control the velocity of a vehicle given the reference velocity, the

[esmatparast]

Compute acceleration and deceleration commands that control the velocity of a vehicle given the reference velocity, the current velocity, and the current driving direction.\n\nThe controller is implemented as a discrete Proportional-Integral (PI) controller with integral anti-windup. To reset the integral of velocity error to zero, pass a nonzero value to the Reset port.\n\nThe Direction port accepts a scalar representing the driving direction with two possible values: 1 for forward motion and -1 for reverse motion. The outputs AccelCmd and DecelCmd are saturated by the maximum longitudinal acceleration and the maximum longitudinal deceleration parameters


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