Quote:
Originally Posted by Ether
Code:
omega = ((sFR*cos(atan2(W,L)+pi/2-aFR)+sFL*cos(atan2(-W,L)+pi/2-aFL)
+sRL*cos(atan2(-W,-L)+pi/2-aRL)+sRR*cos(atan2(W,-L)+pi/2-aRR))/4)/
(sqrt(L^2+W^2)/2);
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Quote:
Originally Posted by JamesTerm
This is what I have confirmed the omega equation to be:
Code:
const double omega = (((_.sFR*cos(atan2(W,L)+(HP-_.aFR))/4)+
(_.sFL*cos(atan2(-W,L)+(HP-_.aFL))/4)+
(_.sRL*cos(atan2(-W,-L)+(HP-_.aRL))/4)+
(_.sRR*cos(atan2(W,-L)+(HP-_.aRR))/4)));
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Assuming "HP" means "pi/2", then the equation you posted is arithmetically identical to the one I gave you, with the exception that you removed the final "/(sqrt(L^2+W^2)/2)"... which is required if you want omega to be in units of angular velocity (rad/sec).
There was a typo in my original post. The notes at the bottom said "
L and W are wheelbase and trackwidth in inches". That should have said
feet.