Go to the source code of this file.
Functions | |
| dynamic equations | dy (1) |
| dy (2) | |
| dy (3) | |
| both these formula s are guesses and need to be determined | dy (4) |
| dy (5) | |
| dy (7) | |
Variables | |
| function | dy |
| length from center of right wheel to left wheel of truck | axleLength = 0.37465 |
| number of encoder ticks per meter of wheel travel | ticksPerMeter = 1183 |
| use names for some of the state values to make the formula s easier to follow | truckAngle = y(3) |
| steeringAngle = y(4) | |
| truckVelocity = y(5) | |
| scPower = y(7) | |
| targetSteeringAngle = y(8) | |
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Definition at line 21 of file trucksim.m. |
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Initial value: trucksim(t,y) % y(1) = x % y(2) = y % y(3) = theta (angle of truck body) % y(4) = steering angle (actual) % y(5) = velocity of truck % y(6) = travel of right wheels (in meters) % y(7) = travel of left wheels (in meters) % % use y(7) and y(8) as control inputs % they will be kept constant for duration % of the simulation % y(7) = speed controller power (input) % y(8) = target steering angle (input) % length of truck (in meters) from back axle to front axle truckLength = 0.3048 Definition at line 1 of file trucksim.m. |
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Definition at line 32 of file trucksim.m. |
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Definition at line 30 of file trucksim.m. |
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Definition at line 33 of file trucksim.m. |
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Definition at line 24 of file trucksim.m. |
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Definition at line 29 of file trucksim.m. |
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Definition at line 31 of file trucksim.m. |
1.4.4