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edufford edited this page Apr 8, 2018
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- Traffic Light Detection
- Waypoint Updater
- Waypoint Follower
- Twist Controller/Drive By Wire (DBW)
- Visualization Tools
- wheelbase = 112.2 inches (from Dataspeed README.pdf)
- steering/tire angle ratio = 14.8 : 1 (from Dataspeed README.pdf)
- 31.4 GiB Memory
- Intel Core i7-6700K CPU @ 4 GHz x 8
- TITAN X Graphics
- 50 Hz expected, 10 Hz timeout
- Throttle pedal position (%), 14 bit resolution
dbw_mkz_msgs/ThrottleCmd.msg
float32 pedal_cmd
uint8 pedal_cmd_type
uint8 CMD_NONE=0
uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.80
uint8 CMD_PERCENT=2 # Percent of maximum throttle, range 0 to 1
- 50 Hz expected, 10 Hz timeout
- Lookup table from vehicle braking torque (Nm) -> brake pedal position (%), 14 bit resolution
dbw_mkz_msgs/BrakeCmd.msg
float32 pedal_cmd
uint8 pedal_cmd_type
uint8 CMD_NONE=0
uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50
uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1
uint8 CMD_TORQUE=3 # Nm, range 0 to 3250
float32 TORQUE_MAX=3412 # Nm, maximum torque
- 50 Hz expected, 10 Hz timeout
- Steering wheel angle (deg), full range +/- 470 deg, 0.1 deg resolution
- Max angular rate 500 deg/s
dbw_mkz_msgs/SteeringCmd.msg
float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2
float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum