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Summary of change:
See also TractionControlArm, TractionController Hopefully one will clean it up, this info was just going down the drain... * got almost all the high level logic stuff done * starting to tie hardware + high level together <blundar> I should probably have some more interesting stuff to post / share / etc. on 2004-09-27 * tractionboard = one of the "peripheral" ARM boards repsonsible for traction control through monitoring VR wheelsensors * I went all out with the code <blundar> did proper statistical tests <blundar> i.e. analysis of variance * has calibration procedure * normalizes wheelspeeds to account for minor variances from VR sensors so you can even use different types of VR sensors and it will deal * computes variance during calibration * then it basically examines the wheelspeeds during normal operation * uses the normalized values from calibration to normalize each sensor reading * then does a weighted ANOVA * and the weighting basically determines how sensitive it is <chrisge> what is the reference for what wheel speed should be? <blundar> reference is determined during calibration * I'm figuring on having a button or something to push to signal calibration * calibration procedure = drive straight with cruise control on or otherwise at a constant speed * it measures 256 samples * takes average, variance of each sensor * to get an idea of how "noisy" they are * then the ANOVA makes meaningful statistical comparisons of sample data vs calibration data * the ARM has *plenty* of horsepower * I figured doing proper statistics would be a good way to use it ---- '''What gear?''' * Are you planing for use in every gear? * it shouldn't matter which gear you're in * for calibration at least * It shouldn't know what gear you're in, should it? * it shouldn't matter * it's purely using wheelspeeds, 4 VR sensors * slippage will be clearly manifested by 2 wheels fast than others <chrisge> what if my front tires are not on the ground?:_) <blundar> tilt sensors :) * seriously, it has two, 2-axis tilt sensors * you bring up a very good point tho - I hadn't thought of the RWD tires lift scenario yet ---- '''calibration''' I was thinking about the calibration process. I believe it is possible to make it without an explicite button from the user: When we '''collect the wheelspeed ratios of the 4 wheels to histograms, the peak of the histogram should be the no-spin - a good reference'''. ---- offtopic - no names - will be deleted working for the nation's largest private provider of healthcare services to the military: I'm also strongly against military but I wouldn't feel anything bad about running computers for a hospital - even if it was for the troops. "I think that any country has a right to protect whatever its interests may be" - yes, as long as it's not invading other countries ( we know what happened when Hitler decided to protect Germany's interests :-( ), or it does not commit terrorist acts (like the Nagasaki bomb: the Hiroshima bomb could be argued to be a justified act of war needed to save lives elsewhere by proving the power, the 2nd bomb was clearly the biggest terrorist act ever - appr. 30 WTC ). Anything regarding international affairs should be settled with the consent of EU - anything else endangers world safety rather than making the world a safer place.
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