Alexanderallenbrown

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//This demo code shows latching, rising edge detection for a 3-state program.
//To see this program work, push button X1!!
//To See some other functionality, play with inputs 4, 5, and 6!
//Block 1: Handle Inputs, Timers, Counters
V2 = X1&&!V1 //V2 is press
T0_EN = X4&&!T1; //have timer count repeatedly and reset itself
T1_EN = X4&&T0;//same
CT0_UP = X5;

Alexanderallenbrown

from numpy import *

class BicycleModel:
    
    def populate(self):
        """this function populates the bicycle model continuous and discrete (tustin) matrices"""
        #terms for continuous time BM
        A1 = (self.Cf + self.Cr)/(self.m*self.U)
        A2 = (self.a*self.Cf-self.b*self.Cr)/(self.m*self.U)-self.U
        A3 = (self.a*self.Cf-self.b*self.Cr)/(self.I*self.U)

Alexanderallenbrown

from numpy import *
from matplotlib.pyplot import *

# A Dugoff Tire model implementation in python/numpy
#Alexander Brown, Ph.D.
# brownaa@lafayette.edu

class DugoffTire:
    """ This python class implements the Dugoff tire model based on friction coefficients, cornering stiffnesses. 
    Forces are applied in same sign as slip angle, so be aware of this when you implement.

Alexanderallenbrown

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##heading

let us try some math

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here is an equation

Alexanderallenbrown

%Demonstration of the Robin Sharp Optimal Preview Steering Control
%Alexander Brown
%March 15, 2012
clear all
close all
clc

%Adapted from Sharp, valetsiotis, 2001