WHEEL_SPEED = sin[(τ * F + Φ) * 2Π] * A + BIAS
port
(left)
starboard
(right)
F
F
Φ
Φ
A
A
BIAS
BIAS
tick:
τ:
δτ:
A quick experiment in controlling motion based on the groundspeed of two wheels. The simulation here is two wheels connected by a fixed axle.

Each simulation tick, each wheel's forward speed is calculated and applied along the normal to the axle, then the axle length is re-normalized to its proper length.

A synthetic clock is used to get a simulation tick reate of at least ms, regardless of actual framerate.

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orion elenzil 201404
palo alto