{
  "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
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    "states": {
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      "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": {
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      "pwm_to_velocity": {
        "model": "linear",
        "k": 0.13767501537320403,
        "bias": -0.23053784427756718,
        "formula": "v = 0.137675 * (pwm - 1500) + -0.230538",
        "pwm_velocity_pairs": [
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          [
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      "acceleration": {}
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    "steering_model": {
      "pwm_to_yaw_rate": {
        "model": "linear",
        "k": 0.006981317007977318,
        "formula": "ω = 0.00698132 * (steering_pwm - 1500)",
        "data": [
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            23.279727653566134
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          [
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            23.279717182805978
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          [
            200.0,
            1.3962634015954636,
            23.279706739033372
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            -200.0,
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            23.279696251250847
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    },
    "delays": {
      "throttle_response_delay_ms": 50.0
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  "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
  }
}