oss-slu/MORPH

Fix speed clamp in diff-drive backend

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#61 opened on Mar 16, 2026

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good first issue

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Description

Description

Fix the speed normalization logic so robot drive speed is correctly clamped from 0-100 and mapped to 0.0-1.0

Acceptance criteria

  • Speed clamp formula is corrected in server/main.py.
  • Inputs below 0 become 0, above 100 become 100.
  • Normalized speed sent to motion command is between 0.0 and 1.0.
  • Basic tests cover boundary and invalid values.

Developer note

  • Current logic always returns 100

Contributor guide

Research direction
Inspect the current speed normalization logic in server/main.py, correct the formula to clamp and normalize, and add tests for boundary values.
Tech stack
python
Domain
backend
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
GitPython
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75