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- Implemented a simulator in C for Linux. This is integrated with the code used on cars (ca2). It simulates the cars dynamics and the behavior of the Camera Positioning Systems (CPS). Besides being very useful to verify the system model, it makes easy to test changes to code and the controller before applying those changes to cars.
- Implemented a script to visually debug cars behavior. It works both with the simulator and test-bed experiments data.
- ca2: grouped utility functions in a separate folder that is shared with the simulator. This makes the code more modular.
- CPS: fixed a bug that affected the initial target dectection for cars that were not tracked by computer 0.
- CPS: now compute and send also the 2D speed of the cars. This may be needed for the predictor in the future. See section #2D SPEED TESTING.
- CPS: implemented linear error correction for the computation of camera position. CPS: now compute and send also the 2D speed of the This visibly improves the path following of cars.
Note about CPS usage. Since CPS now compute and send the 2D speed to cars, AndreaCPS is not compatible to previous ca2 versions. Viceversa my ca2 is not compatible with previous version of CPS. This is because the communication protocol between CPS and ca2 is now a little bit different. In general I would suggest using AndreaCPS instead of KevinCPS or LeoCPS. This because of the bug that involved the initial target detection. I did not check CPS versions that are previous to KevinCPS but it is likely that those versions do not have this bug since computer 1 and 2 do not send their information to computer 0 before being send sending them to cars.
Model
- Determined effect of battery status on cars speed.
- Determined effect of the capacitor used to filter the power on cars speed.
- First analysis on the effect of motor and steer input on speed.
Others
- expanded troubleshooting section.
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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.
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2D SPEED TESTING
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CAR MODEL
EFFECT OF PWM AND STEER INPUT ON THE SPEED DYNAMICS
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