Quote:
Originally Posted by Jefferson
Ether,
When I was looking at the spreadsheet calcs, I also pulled up your derivation for the formulas here:
http://www.chiefdelphi.com/media/papers/download/3027
I noticed that you defined A-D using L/2 and W/2 in the paper while you used L/R and W/R in the spreadsheet. |
Both are correct.
In the paper, A = Vx - ω*(L/2)
To convert this to +/-1 joystick commands for use in the spreadsheet, Vx=STR and ω=RCW/(R/2)
So in the spreadsheet, A = STR - RCW/(R/2)*(L/2) = STR - RCW*(L/R)
This was explained somewhat in the
companion paper, albeit perhaps not in sufficient detail.