Better steering for manual control (#1957)

CHANGELOG.md

@@ -1,4 +1,5 @@
 ## Latest
+  * Better steering in manual control
   * Added Doxygen documentation online with automatic updates through Jenkins pipeline
 
 

PythonAPI/examples/manual_control.py

@@ -337,9 +337,15 @@ class KeyboardControl(object):
         self._control.throttle = 1.0 if keys[K_UP] or keys[K_w] else 0.0
         steer_increment = 5e-4 * milliseconds
         if keys[K_LEFT] or keys[K_a]:
-            self._steer_cache -= steer_increment
+            if self._steer_cache > 0:
+                self._steer_cache = 0
+            else:
+                self._steer_cache -= steer_increment
         elif keys[K_RIGHT] or keys[K_d]:
-            self._steer_cache += steer_increment
+            if self._steer_cache < 0:
+                self._steer_cache = 0
+            else:
+                self._steer_cache += steer_increment
         else:
             self._steer_cache = 0.0
         self._steer_cache = min(0.7, max(-0.7, self._steer_cache))