At 12:01 PM 10/27/99 , Todd Green wrote:
>Mark Sipe sent some private email which got me thinking. GEEZ
>appears to determine usage via:
>
> usage = max(current lat, current accel, current lat trans) /
> max(peak lat, peak accel, peak lat trans)
Hmmm. That would seem flawed. You could be right on the edge of the
friction circle, at a 45 degree point, and get a usage in the 80's,
assuming you normalized. If you didn't, it would be even more flawed.
Ignoring the transition component, you'd want something like:
g_usage = sqrt((cur_lat/peak_lat)^2 + (cur_accel/peak_accel)^2)
where you use a different peak_accel depending upon the sign of cur_accel.
Perhaps you would 'max' that g_usage with transition rate:
usage = max(g_usage, cur_trans/peak_trans)
Not sure the best way to incorporate transition rate, but don't you need
one for lateral and one for acceleration? And perhaps even two for
accel, one for throttle->brake and one for brake->throttle, taking into
account the slower "spool up" of motors vs. brakes???
Well, I am sure Byron will dazzle us well beyond the above. ;^)
Until then, that's just food for thought,
Brian
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