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| {
| "metadata": {
| "log_file": "tools\\test_calibration_data.log",
| "total_samples": 53,
| "duration_seconds": 48.0,
| "origin": {
| "latitude": 39.831867,
| "longitude": 116.280907,
| "altitude": 47.5
| },
| "states": {
| "WARMUP": 3,
| "ACCEL_LOW": 5,
| "CRUISE_LOW": 5,
| "REST_1": 1,
| "ACCEL_MID": 4,
| "CRUISE_MID": 4,
| "REST_2": 1,
| "ACCEL_HIGH": 3,
| "CRUISE_HIGH": 3,
| "REST_3": 1,
| "TURN_LEFT_LIGHT": 4,
| "REST_4": 1,
| "TURN_RIGHT_LIGHT": 4,
| "REST_5": 1,
| "TURN_LEFT_HEAVY": 4,
| "REST_6": 1,
| "TURN_RIGHT_HEAVY": 4,
| "BRAKE": 3,
| "FINISHED": 1
| }
| },
| "differential_drive_model": {
| "forward_model": {
| "pwm_to_velocity": {
| "model": "linear",
| "k": 0.13767501537320403,
| "bias": -0.23053784427756718,
| "formula": "v = 0.137675 * (pwm - 1500) + -0.230538",
| "pwm_velocity_pairs": [
| [
| 1600.0,
| 13.458723024881662
| ],
| [
| 1700.0,
| 27.460946567446157
| ],
| [
| 1800.0,
| 40.99372609989858
| ]
| ]
| },
| "acceleration": {}
| },
| "steering_model": {
| "pwm_to_yaw_rate": {
| "model": "linear",
| "k": 0.006981317007977318,
| "formula": "ω = 0.00698132 * (steering_pwm - 1500)",
| "data": [
| [
| 100.0,
| 0.6981317007977318,
| 23.279727653566134
| ],
| [
| -100.0,
| -0.6981317007977318,
| 23.279717182805978
| ],
| [
| 200.0,
| 1.3962634015954636,
| 23.279706739033372
| ],
| [
| -200.0,
| -1.3962634015954636,
| 23.279696251250847
| ]
| ]
| }
| },
| "delays": {
| "throttle_response_delay_ms": 50.0
| }
| },
| "recommended_config": {
| "MC_CFG_FORWARD_K": 0.13767501537320403,
| "MC_CFG_FORWARD_BIAS": -0.23053784427756718,
| "MC_CFG_STEERING_K": 0.006981317007977318,
| "MC_CFG_MAX_ACCELERATION": 1.0,
| "MC_CFG_RESPONSE_DELAY_MS": 50.0
| }
| }
|
|
