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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). The full data gathered and the detailed description of how the experiments were performed can be found in my folder on Dropbox in "../backup/data/battery_7-30-2013".
Experiment 1: the initial voltage was kept constant while varying the pwm signal.
Experiment 2: the pwm was kept constant while varying the initial voltage. The car is run only the first time.
Experiment 3: the car is run 3 times in a row to check if the third time the speed dynamics changes again.
Experiment 5: the car is left turned on for 25 minutes before running to check if the capacitor gets discharged even if the car is not running.
TODO: I wanted to perform another experiment to check if the capacitor gets charged again to its original level after the car runs but car1 broke just before I could perform the experiment.
CAMERA MEASUREMENT ERROR CORRECTION
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TODO: 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.
NOTES
- The testbed is not completely flat, there are slight slopes. A car that runs on a circle with constants steer and pwm shows low frequency oscillations on its speed (measured with the encoder) because of this.
THINGS I WOULD HAVE LIKED TO BE DOCUMENTED
- The car number is on the heatsink on the motherboard hidden under the adhesive paper ring.
- Car circuit model.
- CPS code currently doesn't compute the vehicle heading by checking the line on the cars' symbols. It just checks the previous and the current position to do it.
- How to use Moto.exe.
- One must pay attention whether there is some overlapping area between two adjacent cameras.
NOTES
- The testbed is not completely flat, there are slight slopes. A car that runs on a circle with constants steer and pwm shows low frequency oscillations on its speed (measured with the encoder) because of this.
- Battery status greatly affects the engine performances.