WCD vs. Swerve - Chief Delphi

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WCD vs. Swerve

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#40

28-12-2011, 15:35

Ether

systems engineer (retired)

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Join Date: Nov 2009

Rookie Year: 1969

Location: US

Posts: 8,049

Re: WCD vs. Swerve

Quote:

Originally Posted by JamesTerm

Oh and each vector is divided by 4.

Just to be clear: There is a divide-by-4 (which divides all 4 terms) in the original equations I posted:

Quote:

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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