...
- ca2: grouped utility functions in a separate folder that is shared with the simulator.
- CPS: fixed a bug that affected the initial target dectection for cars that were not tracked by computer 0.
- CPS: implemented linear error correction for the computation of camera position.
- CPS: now compute and send also the 2D speed of the cars. This makes Andrea CPS not compatible to previous ca2 versions and my ca2 not compatible with previous version of CPS.
EFFECT OF THE BATTERY
I made an investigation on the effect that the battery has on the car speed. Data has been acquired by running car1 on a circle with constant steer and engine input. The steer has always been set to -64. The starting position of the car has always been about (3000, 3600) in global coordinates (this if you want to make considerations connected to the test-bed slope. The voltage of the battery was measured both before turning on the car (while off) and just before run ca2 (while on).
CAMERA MEASUREMENT ERROR CORRECTION
...
The error correction gave a visible improvement to the steer control performance. The car stays much closer to the given path. The error in camera 5 and 2 is constantly below 10cm and rarely above 5cm. Moreover the measured position "leaps" are reduced. I was not able to measure a leap above 15cm.
NOTETODO: a filter Kalman has been implemented on the car in hopes of removing the remaining part of the noise. The model still needs to be refined though in order to test its true usefulness.
...