does robot moves 5 times slower than fastest speed?

[k-okada]

Sorry for late response, but I still do not understand the change in #121 by @furushchev

Current :anlge-vector code calculates fastest-tm using scale = 1, and if tm is nil, then it evaluate
(setq tm (* 5 fastest-tm)) is it correct?
if so, if we set tm as nil, then the robot moves 5 times slower than the fastest speed,
if this is true, my comment and the fix in
#121 (comment)
furushchev@2f9d3e8
are wrong, this is `if not specified, it will use 1/(* scale 5) of the fastest speed, is it correct?

  (:angle-vector
   (av &optional (tm nil) (ctype controller-type) (start-time 0) &key (scale 1) (min-time 1.0))
   "tm (time to goal in msec)                                                                                                    
   if designated tm is faster than fastest speed, use fastest speed                                                              
   if not specified, it will use 1/scale of the fastest speed .                                                                  
   if :fastest is specefied use fastest speed calcurated from max speed"
   (unless (gethash ctype controller-table)
     (warn ";; controller-type: ~A not found" ctype)
     (return-from :angle-vector))
   ;;Check and decide tm                                                                                                         
   (let ((fastest-tm (* 1000 (send self :angle-vector-duration
                                   (send self :state :potentio-vector) av scale min-time ctype))))
     (cond
      ;;Fastest time Mode                                                                                                        
      ((equal tm :fast)
       (setq tm fastest-tm))
      ;;Normal Number disgnated Mode                                                                                             
      ((numberp tm)
       (if (< tm fastest-tm)
           (setq tm fastest-tm)))
      ;;Safe Mode (Speed will be 5 * fastest-time)                                                                               
      ((null tm)
       (setq tm (* 5 fastest-tm)))
      ;;Error Not Good Input                                                                                                     
      (t
       (ros::ros-error ":angle-vector tm is invalid.  args: ~A" tm)
       (error ":angle-vector tm is invalid. args: ~A" tm)))
     )