From 00e5d677378f712d87ff60ecb60ffa13e63a503c Mon Sep 17 00:00:00 2001
From: Tinker Twins <tinkertwinsofficial@gmail.com>
Date: Fri, 3 Feb 2023 01:31:03 -0500
Subject: [PATCH] Create Car-Parameters.md

---
 Car-Parameters.md | 47 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 Car-Parameters.md

diff --git a/Car-Parameters.md b/Car-Parameters.md
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+# F1TENTH Car Parameters
+
+<img src="https://github.com/Tinker-Twins/F1TENTH-Mocap-Data-Recording-Pipeline/blob/main/Media/Vehicle%20with%20Mocap%20Markers.JPG" alt="AutoDRIVE-F1TENTH-ARMLab" width="525"/>
+
+## Kinematic Parameters
+| Parameter | Value |
+| :-------: | :---: |
+| Car Length   | 0.50 m |
+| Car Width    | 0.27 m |
+| Wheelbase    | 0.33 m |
+| Track Width  | 0.23 m |
+| Front Offset | 0.09 m |
+| Rear Offset  | 0.08 m |
+| Min Turning Radius (@ Max Steering Angle) | 0.5716 m |
+| Max Steering Angle (Wheel-Road Angle) | 0.523599 rad (30 deg) |
+| Max Speed :warning: Physical Car Limit :warning: | 8.9408 m/s (20 mph) |
+
+### Reference:
+`src/autodrive/config/planner_params.yaml`
+
+## VESC Parametrs
+
+| Parameter | Value |
+| :-------: | :---: |
+| Max Steering Rate | 3.2 rad/s |
+| Max Acceleration | 2.5 m/s<sup>2</sup> |
+| Min Braking Command | -20000 |
+| Max Braking Command | 200000 |
+| Min Speed Command | -23250 |
+| Max Speed Command | 23250 |
+| Min Braking Command | -20000 |
+| Max Braking Command | 200000 |
+| Min Steering Command | 0.15 |
+| Max Steering Command | 0.85 |
+
+### Notes:
+
+- #### Drive motor erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset
+  - `speed_to_erpm_gain`: 7300
+  - `speed_to_erpm_offset`: 250
+
+- #### Steer servo value (0 to 1) =  steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset
+  - `steering_angle_to_servo_gain`: -0.6
+  - `steering_angle_to_servo_offset`: 0.435 (zero steer offset)
+
+### Reference:
+`src/f1tenth/racecar/racecar/config/racecar-v2/vesc.yaml`