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Not sure if I was supposed to understand the physics behind Ackerman but looks fine? Some thoughts are that we should have 2 sets of params to choose from at beginning of simulation, fs-3 and fs-4. Something even smarter might be setting up params that define different car parts like tire params for each type of tire we use. And then steering for fs-3, steering fs-4. Something like that. Also if we want the simulation to be more accurate we should really be using Runge Kutta probably rather than a riemann sum. May matter less since we have constant energy input/output but when doing simpler simulations it made a huge difference for conservation of energy. |
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yeah i agree i'll make that change to fs3/fs4 param selector. A lot of the things are still fs2 as well, like the polar moment. |
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