Alternative kinematic model generation #6
Description
Steps for completing this issue:
- Familiarize yourself with the kinematic model and solver in /kinematics/
- Implement a new method as an alternative to from_hardpoints() This new method (from_parameters, or something of that nature) should achieve the following:
- Read from a .yaml parameter file
- Create a front and rear response surface in the same format as from_hardpoints()
The parameters in the .yaml parameter file should be the following:
| Parameter | Description | Units |
|---|---|---|
| Trackwidth | y-axis distance between contact patch positions | mm |
| Wheelbase | x-axis distance between contact patch positions | mm |
| Motion ratio | rate at which the shock displaces relative to the contact patch (see how its defined in the code) | unitless (mm/mm) |
| Steer rate | rate at which the wheel rotates compared to the steering rack displacement | deg/mm |
| Nonlinear motion ratio | rate at which the motion ratio deviates from it's constant values relative to wheel displacement | /mm |
| Ackermann | rate at which the outside wheel deviates from the inner wheel per degree of rotation OR relative to steering rack | deg/deg OR deg/mm |
| % Anti geometry | will discuss later |