trick/trick_sims/SIM_wheelbot

SIM_wheelbot

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SIM_wheelbot is a simulation of a two-wheeled electric vehicle that follows a set of waypoints.

Building the Simulation

In the SIM_wheelbot directory, type trick-CP to build the simulation executable. When it's complete, you should see:

=== Simulation make complete ===

Now cd into models/Graphics/ and type make. This builds the display client for the simulation.

Running the Simulation

In the SIM_wheelbot directory:

% S_main_*.exe RUN_test/input.py

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Inputs

Variable	Type	Units	Default Value
veh.vehicle.distanceBetweenWheels	double	m	0.183
veh.vehicle.wheelRadius	double	m	0.045
veh.vehicle.wheelSpeedLimit	double	rad/s	8.880
veh.vehicle.headingRateLimit	double	rad/s	𝛑/4
veh.vehicle.wheelDragConstant	double	--	1.875
veh.vehicle.corningStiffness	double	--	10.0
veh.vehicle.slowDownDistance	double	--	0.5
veh.vehicle.arrivalDistance	double	--	0.1

Adding Waypoints

Waypoints, for the vehicle to follow, are added with a call to

veh.vehicle.add_waypoint( double N, double W )

Adding Home point

A home point is designated by the last waypoint in the waypoint file.

Input/Output

Variable	Type	Units
veh.vehicle.position	double[2]	m
veh.vehicle.velocity	double[2]	m
veh.vehicle.heading	double	rad
veh.vehicle.headingRate	double	rad

Outputs

Variable	Type	Units
veh.vehicle.acceleration	double[2]	m
veh.vehicle.headingAccel	double	rad
veh.vehicle.driveForce	double[2]	N
veh.vehicle.lateralTireForce	double[2]	N
veh.vehicle.rollingResistForce	double[2]	N
veh.vehicle.forceTotal	double[2]	N
veh.vehicle.vehicleZTorque	double	N*m