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Work In Progress. CPS now compute from a difference of position the 2D speed of cars. The reason I implemented this is because the encoder of car 2 (which is now fixed) was not working and I needed to measure its speed. I made a test to see if this new measurement was reliable. I run car2 with fixed steer and PWM and I compared the speed measured by the encoder and the CPS. Results are in figure...
CAR MODEL
EFFECT OF PWM AND STEER INPUT ON THE SPEED DYNAMICS
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As a side note, the low frequency oscillations should be noted. These oscillation are caused by the fact that the testbed is not completely flat, there are slight slopes that can be easily observed with a spirit level.
EFFECT OF THE BATTERY AND THE POWER FILTER CAPACITOR ON THE SPEED DYNAMICS
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