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69 lines
2.7 KiB
Markdown
69 lines
2.7 KiB
Markdown
# SIM\_wheelbot
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---
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SIM\_wheelbot is a simulation of a two-wheeled electric vehicle that follows a set of waypoints.
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---
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### Building the Simulation
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In the SIM\_wheelbot directory, type **trick-CP** to build the simulation executable. When it's complete, you should see:
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```
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=== Simulation make complete ===
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```
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Now **cd** into models/Graphics/ and type **make**. This builds the display client for the simulation.
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### Running the Simulation
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In the SIM_wheelbot directory:
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```
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% S_main_*.exe RUN_test/input.py
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```
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---
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### Inputs
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Variable | Type | Units | Default Value
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-----------------------------------------------|----------------|-------|--------------
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veh.vehicle.distanceBetweenWheels | double | m | 0.183
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veh.vehicle.wheelRadius | double | m | 0.045
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veh.vehicle.wheelSpeedLimit | double | rad/s | 8.880
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veh.vehicle.headingRateLimit | double | rad/s | 𝛑/4
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veh.vehicle.wheelDragConstant | double | -- | 1.875
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veh.vehicle.corningStiffness | double | -- | 10.0
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veh.vehicle.slowDownDistance | double | -- | 0.5
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veh.vehicle.arrivalDistance | double | -- | 0.1
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#### Adding Waypoints
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Waypoints, for the vehicle to follow, are added with a call to
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veh.vehicle.add_waypoint( double N, double W )
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#### Adding Home point
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A home point is designated by the last waypoint in the waypoint file.
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### Input/Output
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Variable | Type | Units
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-----------------------------------------------|----------------|-------
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veh.vehicle.position | double[2] | m
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veh.vehicle.velocity | double[2] | m
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veh.vehicle.heading | double | rad
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veh.vehicle.headingRate | double | rad
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### Outputs
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Variable | Type | Units
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----------------------------------------------|----------------|--------
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veh.vehicle.acceleration | double[2] | m
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veh.vehicle.headingAccel | double | rad
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veh.vehicle.driveForce | double[2] | N
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veh.vehicle.lateralTireForce | double[2] | N
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veh.vehicle.rollingResistForce | double[2] | N
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veh.vehicle.forceTotal | double[2] | N
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veh.vehicle.vehicleZTorque | double | N*m
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