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CPS MEASURED 2D SPEED
Work In Progress. The issues with CPS measured 2D speed detected in this testing are still unresolved. This is not currently a priority since all the encoders are working and can be used for the model identification. These issues will be deepen in case the 2D speed will actually be used for the prediction.
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...
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