00001 function dy = vehicle(t,y)
00002
00003 % time, v1 and v2 should be global inputs
00004 v1i = 1;
00005 %interp1(time,v1,t);
00006 v2i = 20/180 * pi * sign(sin(t*0.54));
00007 %interp1(time,v2,t);
00008
00009 % length of truck (in meters) from back axle to front axle
00010 truckLength = 0.3048;
00011
00012 % y(1) = x
00013 % y(2) = y
00014 % y(3) = theta
00015 % y(4) = steering angle
00016
00017 dy = zeros(4,1);
00018 dy(1) = cos(y(3)) * v1i;
00019 dy(2) = sin(y(3)) * v1i;
00020 dy(3) = tan(y(4)) / truckLength;
00021 dy(4) = 2.0 * (v2i - y(4)) * v1i;
