View source for Self Driving RC Car/Speedtest

{{:Self_Driving_RC_Car/Links}}
= angle calculation =
https://i.stack.imgur.com/DQsP9.png
* https://gamedev.stackexchange.com/questions/50022/typical-maximum-steering-angle-of-a-real-car
* https://en.wikipedia.org/wiki/Ackermann_steering_geometry
* https://de.wikipedia.org/wiki/Kreissegment
== calibration results==
=== Ferrari ===
Taken from the values below see [[File:servocalibration.xlsx]]
[[File:TamiyaServoVsWheelAngle2020-01-12.png|800px]]

== size ==
* 15.85 m Track length
* 1.35 m Track width

== speed ==
# slowest: 52 secs for 12 m = 0.23 m/s = 0.83 km/h
# slow: 24 secs for 12 m = 0.5m /s = 1.8 km/h
# quicker: 12 secs for 12 m = 1 m/s = 3.6 km/h

Turncircle:
# smallest left: 2m 
# smallest right: 1.8m

== left turns ==
* 158: 2.20 m
* 155: 2.70 m
* 152: 4.84 m
* 151: 5.10 m
* 150: 5.20 m
* 149: 5.33 m
* 148: 5.73 m
* 147: 6.30 m
* 146: somewhat straight
== right turns ==
* 105: 1.88 m
* ...
* 115: 1.95 m
* 116: 1.95 m
* 117: 1.95 m
* 118: 2.03 m
* 119: 2.20 m
* 120: 2.30 m
* 121: 2.37 m
* 122: 2.37 m
* 123: 2.47 m
* 124: 2.57 m
* 125: 2.63 m
* 126: 2.73 m
* 127: 3.04 m
* 128: 3.19 m
* 129: 3.58 m
* 130: 3.80 m
* 131: 4.03 m
* 132: 4.20 m
* 133: 4.56 m
* 134: 4.80 m
* 135: 5.85 m
* 136: 8.50 m
* 137: 8.70 m
* 138: 9.80 m
* 139: ↑5 m → 6 m
* 140: ↑6 m → 6 m
* 141: ↑8.15 m → 6 m
* 142: ↑12.50 m → 2.95 m
* 143: ↑11.10 m → 2.05 m
* 144: ↑13.10 m → 1.0 m
* 145: ↑12  m ← 2.80 m

= software crash =
<pre>
[mpeg4 @ 0x7fba2dcb2200] Invalid pts (2) <= last (2)
[thread 51715 also had an error]
#
# A fatal error has been detected by the Java Runtime Environment:
#
#  SIGSEGV (0xb) at pc=0x000000012ebb0918, pid=9736, tid=0x000000000000ce03
#
# JRE version: Java(TM) SE Runtime Environment (8.0_152-b16) (build 1.8.0_152-b16)
# Java VM: Java HotSpot(TM) 64-Bit Server VM (25.152-b16 mixed mode bsd-amd64 compressed oops)
# Problematic frame:
# C  [libswscale.5.dylib+0xa5918]  sws_getCachedContext+0x1ab28
#
# Failed to write core dump. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again
#
# An error report file with more information is saved as:
# /Users/wf/Documents/workspace/dukes/rc-server/hs_err_pid9736.log
#
# If you would like to submit a bug report, please visit:
#   http://bugreport.java.com/bugreport/crash.jsp
# The crash happened outside the Java Virtual Machine in native code.
# See problematic frame for where to report the bug.
#
</pre>