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36 lines
1.1 KiB
36 lines
1.1 KiB
import numpy as np
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class FakeSteeringWheel():
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def __init__(self, dt=0.01):
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# physical params
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self.DAC = 4. / 0.625 # convert torque value from can to Nm
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self.k = 0.035
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self.centering_k = 4.1 * 0.9
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self.b = 0.1 * 0.8
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self.I = 1 * 1.36 * (0.175**2)
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self.dt = dt
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# ...
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self.angle = 0. # start centered
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# self.omega = 0.
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def response(self, torque, vego=0):
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exerted_torque = torque * self.DAC
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# centering_torque = np.clip(-(self.centering_k * self.angle), -1.1, 1.1)
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# damping_torque = -(self.b * self.omega)
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# self.omega += self.dt * (exerted_torque + centering_torque + damping_torque) / self.I
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# self.omega = np.clip(self.omega, -1.1, 1.1)
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# self.angle += self.dt * self.omega
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self.angle += self.dt * self.k * exerted_torque # aristotle
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# print(" ========== ")
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# print("angle,", self.angle)
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# print("omega,", self.omega)
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# print("torque,", exerted_torque)
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# print("centering torque,", centering_torque)
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# print("damping torque,", damping_torque)
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# print(" ========== ")
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def set_angle(self, target):
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self.angle = target
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# self.omega = 0.
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