Parameter | Value |
---|---|
Car Length | 0.50 m |
Car Width | 0.27 m |
Wheelbase | 0.33 m |
Track Width | 0.23 m |
Front Offset | 0.09 m |
Rear Offset | 0.08 m |
Min Turning Radius (@ Max Steering Angle) | 0.5716 m |
Max Steering Angle (Wheel-Road Angle) | 0.523599 rad (30 deg) |
Max Speed |
8.9408 m/s (20 mph) |
src/autodrive/config/planner_params.yaml
Parameter | Value |
---|---|
Max Steering Rate | 3.2 rad/s |
Max Acceleration | 2.5 m/s2 |
Min Braking Command | -20000 |
Max Braking Command | 200000 |
Min Speed Command | -23250 |
Max Speed Command | 23250 |
Min Braking Command | -20000 |
Max Braking Command | 200000 |
Min Steering Command | 0.15 |
Max Steering Command | 0.85 |
-
Speed Command:
erpm (electrical rpm) = speed_to_erpm_gain * speed (m/s) + speed_to_erpm_offset
speed_to_erpm_gain
: 4614speed_to_erpm_offset
: 0.0
-
Steering Command: servo_value (normalized 0 to 1) = steering_angle_to_servo_gain * steering angle (rad) + steering_angle_to_servo_offset
steering_angle_to_servo_gain
: -1.2135steering_angle_to_servo_offset
: 0.435 (zero steer offset)
src/f1tenth/racecar/racecar/config/racecar-v2/vesc.yaml