MTest Project: | MTest Demo EV3Control_ec Batch Project |
MTest Testobject: | EV3Control (model: EV3Control_demo_ec) |
Generated at: | 2019-10-29 09:45 |
Parameter Name | Parameter Default Value |
---|---|
Ar | 0 |
B | 0.000726962269165 |
CL_EST_STEER_ANGLE_RAD | -0.7853981633974483 -0.3926990816987241 0.3926990816987241 0.7853981633974483 |
CL_EST_STEER_ENC_DEG | -235 -150 150 235 |
CTRL_TRK_LOOKAHEAD | 40 |
CTRL_TRK_METHOD | 1 |
CTRL_TRK_STEER_ANGLE_DEADZONE_RAD | 0.03490658503988659 |
CTRL_VEL_GAIN_D | 0 |
CTRL_VEL_GAIN_I | 0.5 |
CTRL_VEL_GAIN_P | 1 |
DEG2RAD | 0.0174532925199433 |
DIST_OBSTACLE_EVADE | 40 |
DIST_OBSTACLE_STOP | 15 |
J | 0.001502739083882 |
Kb | 0.459965726538748 |
Ktau | 0.304766706036738 |
LATERAL_EVADE_INCREMENT | 100 |
La | 0.00494 |
MOTOR_DRIVE_DEFAULT_FWD | 60 |
MOTOR_DRIVE_DEFAULT_REV | -45 |
MOTOR_DRIVE_MAX | 100 |
MOTOR_DRIVE_MIN | -100 |
MOTOR_DRIVE_TRANSMISSION_RATIO | 0.4545454545454545 |
MOTOR_STEER_AUTO_LEFT | 60 |
MOTOR_STEER_AUTO_RIGHT | -60 |
MOTOR_STEER_MANUAL_LEFT | 50 |
MOTOR_STEER_MANUAL_RIGHT | -50 |
MOTOR_STEER_MAX | 100 |
MOTOR_STEER_MIN | -100 |
PATH_COORDS_XY | 100 0; 99.21147013144778 12.43449435824274; 96.85831611286311 24.08768370508576; 92.97764858882513 34.22735529643444; 87.63066800438637 42.21639627510076; 80.90169943749474 47.55282581475768; 72.89686274214115 49.90133642141359; 63.74239897486896 49.11436253643443; 53.58267949789965 45.24135262330097; 42.57792915650727 38.52566213878946; 30.90169943749475 29.38926261462366; 18.73813145857245 18.40622763423389; 6.27905195293133 6.266661678215205; -6.27905195293134 -6.266661678215215; -18.73813145857248 -18.40622763423391; -30.90169943749476 -29.38926261462367; -42.57792915650727 -38.52566213878946; -53.58267949789969 -45.24135262330099; -63.74239897486898 -49.11436253643444; -72.89686274214117 -49.90133642141357; -80.90169943749473 -47.55282581475768; -87.63066800438637 -42.21639627510074; -92.97764858882515 -34.22735529643441; -96.85831611286311 -24.08768370508577; -99.21147013144778 -12.43449435824273; -100 -1.224646799147353e-14; -99.21147013144778 12.4344943582427; -96.85831611286312 24.08768370508574; -92.97764858882516 34.22735529643439; -87.63066800438637 42.21639627510073; -80.90169943749474 47.55282581475767; -72.89686274214118 49.90133642141357; -63.74239897486896 49.11436253643443; -53.58267949789971 45.241352623301; -42.5779291565073 38.52566213878948; -30.90169943749476 29.38926261462367; -18.73813145857255 18.40622763423398; -6.27905195293132 6.266661678215195; 6.279051952931283 -6.266661678215158; 18.73813145857243 -18.40622763423386; 30.90169943749472 -29.38926261462364; 42.57792915650726 -38.52566213878946; 53.58267949789968 -45.24135262330098; 63.74239897486893 -49.11436253643442; 72.89686274214112 -49.90133642141357; 80.90169943749473 -47.55282581475769; 87.63066800438637 -42.21639627510076; 92.97764858882515 -34.22735529643442; 96.85831611286309 -24.08768370508582; 99.21147013144778 -12.43449435824278; 100 -2.449293598294706e-14 |
RAD2DEG | 57.29577951308232 |
REMOTE_DRIVE_AUTO_OFF | 11 |
REMOTE_DRIVE_AUTO_ON | 10 |
REMOTE_DRIVE_FWD | 5 |
REMOTE_DRIVE_REV | 8 |
REMOTE_START | 1 |
REMOTE_STEER_LEFT | 2 |
REMOTE_STEER_RIGHT | 4 |
REMOTE_STOP | 3 |
Ra | 6.832749059810827 |
STATUS_LIGHT_DEFAULT | 1 |
STATUS_LIGHT_EMERGENCY_STOP | 2 |
STATUS_LIGHT_IDLE | 1 |
STATUS_LIGHT_OBSTACLE_DETECTED | 6 |
STATUS_LIGHT_VEHICLE_CTRL_OFF | 2 |
STEER_ANGLE_MAX_DEG | 45 |
STEER_ANGLE_MAX_RAD | 0.7853981633974483 |
STEER_ANGLE_MIN_DEG | -45 |
STEER_ANGLE_MIN_RAD | -0.7853981633974483 |
STEP_SIZE_ECU | 0.05 |
STEP_SIZE_SIM | 0.002 |
VehicleStates | Alignment : -1 Elements (1) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : VehicleControlOn DataType : boolean Complexity : real Dimensions : 1 (2) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : VehicleControlOff DataType : boolean Complexity : real Dimensions : 1 (3) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : EmergencyStop DataType : boolean Complexity : real Dimensions : 1 (4) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : VehicleIdle DataType : boolean Complexity : real Dimensions : 1 Description : -empty- DataScope : Auto HeaderFile : -empty- |
WHEEL_BASE | 30 |
WHEEL_CIRCUMFERENCE | 21.6 |
WHEEL_DIAMETER | 6.875493541569878 |
WHEEL_RADIUS | 3.437746770784939 |
WHEEL_SIZE_DEG | 0.06 |
actuatorBusOut | Alignment : -1 Elements (1) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : driveMotor DataType : int8 Complexity : real Dimensions : 1 (2) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : steeringMotor DataType : int8 Complexity : real Dimensions : 1 (3) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : volume DataType : double Complexity : real Dimensions : 1 (4) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : frequency DataType : double Complexity : real Dimensions : 1 (5) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : statusLight DataType : uint8 Complexity : real Dimensions : 1 Description : -empty- DataScope : Auto HeaderFile : -empty- |
sensorBus | Alignment : -1 Elements (1) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : remoteCtrlCmd DataType : int8 Complexity : real Dimensions : 1 (2) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : steeringEncoder DataType : int32 Complexity : real Dimensions : 1 (3) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : driveEncoder DataType : int32 Complexity : real Dimensions : 1 (4) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : gyroAngleRad DataType : double Complexity : real Dimensions : 1 (5) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : usSensorFront DataType : uint8 Complexity : real Dimensions : 1 (6) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : usSensorRight DataType : uint8 Complexity : real Dimensions : 1 (7) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : usSensorLeft DataType : uint8 Complexity : real Dimensions : 1 Description : -empty- DataScope : Auto HeaderFile : -empty- |
sensorBusRaw | Alignment : -1 Elements (1) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : sensorRaw_RemoteControl DataType : int8 Complexity : real Dimensions : 1 (2) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : sensorRaw_SteeringMotor DataType : int32 Complexity : real Dimensions : 1 (3) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : sensorRaw_DriveMotor DataType : int32 Complexity : real Dimensions : 1 (4) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : sensorRaw_Gyro DataType : int32 Complexity : real Dimensions : 1 (5) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : sensorRaw_UltrasoundFront DataType : uint8 Complexity : real Dimensions : 1 (6) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : sensorRaw_UltrasoundRight DataType : uint8 Complexity : real Dimensions : 1 (7) Min : -empty- Max : -empty- DimensionsMode : Fixed SampleTime : -1 Description : -empty- Unit : -empty- Name : sensorRaw_UltrasoundLeft DataType : uint8 Complexity : real Dimensions : 1 Description : -empty- DataScope : Auto HeaderFile : -empty- |