Hearing Aid AGC Testing

Posted 11 March 2023,

I have been wearing hearing aids for quite some time, compliments of a lifetime around airplanes, long before hearing protection became a thing. I recently got a set of Jabra ‘Enhance 200’ aids via direct order, and I like them very much, EXCEPT I have noticed that my perceived hearing acuity seems to vary quite distinctly over a period of a minute or two. I first noticed this when I would turn on a water tap while washing dishes or preparing to take a shower. I would turn on the tap, and then 20-30 sec later, the perceived sound of the water coming out of the tap would increase significantly – even though the water flow rate had not changed. Later, in a social setting (bridge club), I will experience significantly lower and higher perceived speech volumes – very frustrating! I hypothesized that the aids employ an AGC (Automatic Gain Control) of some sort that is getting triggered by an initial loud noise which reduces the gain (and my perceived noise/speech level), and then 10-50sec later the gain would go back up again.

Just recently though, another thought popped into my head – what if the perceived volume changes aren’t due to some property of the hearing aids, but instead are a physiological feature of my current hearing/understanding processes? Hmm, I know I have some issues with my Eustachian tubes blocking and unblocking, and I also know that on occasion the volume changes are correlated with a ‘blocked Eustachian tube’ feeling, so this isn’t a completely crazy hypothesis.

So, how to distinguish ‘meat space’ audio response from hearing aid responses? I decided I could set up an experiment where I could expose one or both of my hearing aids to a volume ‘step function’ and monitor the output for AGC-like responses (an initial rapid drop in output, followed by an eventual return to normal). Something like the following block diagram:

The idea is that the Teensy would produce an audio output in the human audible range that can be controlled for amplitude and duration. The audio would be presented to the hearing aid, and the amplified output of the hearing aid would then be captured with an external microphone connected back to the Teensy. A plot of captured amplitude vs time, with a ‘step function’ input should indicate if the hearing aid is employing an AGC-like response function.

After some fumbling around and searching through the posts on the Teensy forum, I ran across this post describing how to create a simple 440Hz sinewave output from the DAC pin. The original poster was having problems, but after Paul Stoffregen added the ‘magic sauce’ (adding the ‘AudioMemory(10);’) line, everything worked fine. When I copy/pasted the posters code and added the line, I got the nice 440Hz waveform shown below – yay!!

The next step is to hook the DAC output to a small speaker, so I can drive the hearing aid. When I tried hooking a speaker directly to the DAC output, it clipped badly – oops! Fortunately, I remembered that long ago I had purchased a ‘prop shield’ for the Teensy LC/3.1/3.2 controllers, and this contains a 2W audio amp whose input connects directly to the DAC output – nice! So I dug around and found the part, soldered on headers, and plugged it on top of the Teensy.

15 March 2024 Update:

So, yesterday Space X launched IFT3 (Integrated Flight Test #3), consisting of ‘Super-Heavy Booster 10’ and ‘Ship 28’. The combination was the largest, most powerful rocket ever launched, by a fair margin. The upper stage (Starship 28) flew from Boca Chica Texas to the Indian Ocean near Australia in about 49 minutes – wow! At that point, the upper stage was the largest object ever launched into space in all history – Wow Again!

OK, back to reality. I managed to get the prop shield working – after the usual number of false-starts and errors. One ‘gotcha’ was that I hadn’t realized the 2W audio amp was a Class-C type, which means it switches on and off at a very high frequency (100KHz or so) – way above human hearing range, and the audio AM modulates that signal. When it is connected to a speaker or other audio transducer, it acts like a low-pass filter and all that comes out is the audio; this is a really neat trick, but it means that the audio amp output signal is basically impossible to look at directly with a scope – oops. So, I got a pair of MEMS microphone breakout boards from Sparkfun and used the microphone to turn the speaker audio back into an electrical signal that I could view with the scope. Here’s the setup:

Teensy ‘propshield’ mounted on Teensy 3.2. Note Sparkfun MEMS microphone suspended over speaker

This worked great, and I was able to verify that the speaker audio output was a reasonable replica of what the T3.2 DAC was putting out.

The next step was to feed the MEMS mic output back into a Teensy 3.2 analog input so I could measure the signal amplitude (A4 in the above block diagram). Then I would modify the Teensy program to deliver a 1-2 sec ‘pulse’ of high amplitude audio to the hearing aid, followed by a constant low-amplitude signal. The measured amplitude of the hearing aid output (as received by the MEMS mic) would be monitored to see if the hearing aid exhibited AGC-like behavior.

However, as I started setting this up, I realized I would have to solder yet another flying lead to the top of the prop shield, as the Teensy 3.2 pins were no longer accessible directly. So I decided to fix this problem by adding female headers to the top side of the prop shield to allow access to all Teensy pins. The result is shown in the ‘before/after’ photos below:

19 March 2024 Update:

I soon discovered that my plan for routing the MEMS mic back to a Teensy analog input and just averaging the results over time wasn’t going to work, as a glance at the MEMS output to the Teensy (shown below) would make quite obvious:

MEMS output with 1000Hz sinewave input to speaker. Average value is 3.3V/2

The average value for this signal is just the DC offset, which will always be the same. The only thing that varies is the amplitude – not the average value – oops!

OK, so the obvious work-around to this problem would be to put a half-wave or full-wave rectifier circuit between the MEMS output and the Teensy so the analog input could measure the half- or full-wave amplitude instead of the average. But, I really didn’t want to add any more circuitry, and besides I have this entire 72MHz computer at my beck and call – surely I can get it to emulate a half- or full-wave rectifier?

So, after the usual number of screwups, I got this working reasonably well – at least enough for a ‘proof-of-concept. The basic idea is to take analog input readings as fast as possible, and use the resulting values to compute the average value (in A/D units – not voltage), and then take the absolute value of the difference between each measurement and the average value – this essentially implements a full wave rectifier circuit in software.

The following data and Excel plot shows the results for the waveform shown above:

Idx:	Usec	Meas	Amp
0	1617384	183	329.18
1	1617480	2	510.18
2	1617580	1	511.18
3	1617680	1	511.18
4	1617780	3	509.18
5	1617880	810	297.82
6	1617980	1023	510.82
7	1618080	1023	510.82
8	1618180	1023	510.82
9	1618280	1023	510.82
10	1618380	214	298.18
11	1618480	2	510.18
12	1618580	1	511.18
13	1618680	1	511.18
14	1618780	2	510.18
15	1618880	810	297.82
16	1618980	1023	510.82
17	1619080	1023	510.82
18	1619180	1023	510.82
19	1619280	1023	510.82
20	1619380	210	302.18
21	1619480	1	511.18
22	1619580	1	511.18
23	1619680	2	510.18
24	1619780	2	510.18
25	1619880	811	298.82
26	1619980	1023	510.82
27	1620080	1023	510.82
28	1620180	1023	510.82
29	1620280	1023	510.82
30	1620380	218	294.18
31	1620480	2	510.18
32	1620580	1	511.18
33	1620680	2	510.18
34	1620780	2	510.18
35	1620880	822	309.82
36	1620980	1023	510.82
37	1621080	1023	510.82
38	1621180	1023	510.82
39	1621280	1023	510.82
40	1621380	221	291.18
41	1621480	2	510.18
42	1621580	1	511.18
43	1621680	1	511.18
44	1621780	2	510.18
45	1621880	818	305.82
46	1621980	1023	510.82
47	1622080	1023	510.82
48	1622180	1023	510.82
49	1622280	1023	510.82

Idx: Usec Meas Amp

0 1617384 183 329.18

1 1617480 2 510.18

2 1617580 1 511.18

3 1617680 1 511.18

4 1617780 3 509.18

5 1617880 810 297.82

6 1617980 1023 510.82

7 1618080 1023 510.82

8 1618180 1023 510.82

9 1618280 1023 510.82

10 1618380 214 298.18

11 1618480 2 510.18

12 1618580 1 511.18

13 1618680 1 511.18

14 1618780 2 510.18

15 1618880 810 297.82

16 1618980 1023 510.82

17 1619080 1023 510.82

18 1619180 1023 510.82

19 1619280 1023 510.82

20 1619380 210 302.18

21 1619480 1 511.18

22 1619580 1 511.18

23 1619680 2 510.18

24 1619780 2 510.18

25 1619880 811 298.82

26 1619980 1023 510.82

27 1620080 1023 510.82

28 1620180 1023 510.82

29 1620280 1023 510.82

30 1620380 218 294.18

31 1620480 2 510.18

32 1620580 1 511.18

33 1620680 2 510.18

34 1620780 2 510.18

35 1620880 822 309.82

36 1620980 1023 510.82

37 1621080 1023 510.82

38 1621180 1023 510.82

39 1621280 1023 510.82

40 1621380 221 291.18

41 1621480 2 510.18

42 1621580 1 511.18

43 1621680 1 511.18

44 1621780 2 510.18

45 1621880 818 305.82

46 1621980 1023 510.82

47 1622080 1023 510.82

48 1622180 1023 510.82

49 1622280 1023 510.82

The above data was collected by sampling the input at about 20KHz (50 Usec). As can be seen from the above, the average value is a constant 511.64 (out of a zero to 1023 scale), and the actual measured values varied from about 264 to about 755. Here are Excel plots of both the measured input and the calculated amplitude:

So it looks like this idea will work. For the intended application (determining if my hearing aids exhibit AGC-like behavior, I can perform a running average of the full-wave rectified signal using something like a 0.1 Sec interval (2000 samples). That should accurately capture the onset and release of the 1-sec HIGH tone, and have plenty of resolution to capture any AGC-like sensitivity increase over a longer time – say 30 Sec or so.

Here’s the code that produced the above outputs:

/*
    Name:       MicSigAmplitudeMeas.ino
    Created:	3/18/2024 6:35:27 PM
    Author:     FRANKNEWXPS15\Frank
*/
#include "elapsedMillis.h"
#include <Audio.h>



#define MEAS_ARRAY_SIZE 50
#define AD_IN_PIN A9
#define MICROSEC_BETWEEN_ADMEAS 100
#define MIC_INPUT_PIN A9 //pin 23
#define AUDIO_OUT_HIGH 0.02

uint16_t meas_array[MEAS_ARRAY_SIZE];
uint32_t microsec_array[MEAS_ARRAY_SIZE];

AudioSynthWaveformSine   sine;
AudioAmplifier           amp;
AudioOutputAnalog        dac;
AudioConnection          patchCord1(sine, amp);
AudioConnection          patchCord2(amp, dac);


elapsedMicros gl_MicrosecBetweenADMeas;
uint16_t gl_array_idx = 0;


void setup()
{
  Serial.begin(115200);
  Serial.printf("Hello World\n");

  pinMode(MIC_INPUT_PIN, INPUT);
  //analogReadRes(12);

  AudioMemory(20);
  dac.analogReference(EXTERNAL);
  delay(50);
  pinMode(5, OUTPUT); //high power DAC output
  digitalWrite(5, HIGH);
  delay(10);


  amp.gain(1.0);

  sine.frequency(1000.0);
  sine.amplitude(AUDIO_OUT_HIGH);//Should be enough to fully clip
  sine.phase(0.0);

  delay(1000);

  gl_MicrosecBetweenADMeas = 0;
  gl_array_idx = 0;

  //init all the arrays
  for (size_t i = 0; i < MEAS_ARRAY_SIZE; i++)
  {
    //amp_meas_array[i] = 0;
    meas_array[i] = 0;
    microsec_array[i] = 0;
    //avg_meas_array[i] = 0;
  }

  while (gl_array_idx < MEAS_ARRAY_SIZE)
  {
    if (gl_MicrosecBetweenADMeas >= MICROSEC_BETWEEN_ADMEAS)
    {
      gl_MicrosecBetweenADMeas -= MICROSEC_BETWEEN_ADMEAS;
      uint16_t micVal = analogRead(MIC_INPUT_PIN);
      UpdateArrays(micros(), micVal);
      gl_array_idx++;
    }
  }

  //print out results
  float avg = GetAvgMeas();
  Serial.printf("Idx:\tUsec\tMeas\tAmp\n");
  for (size_t i = 0; i < MEAS_ARRAY_SIZE; i++)
  {
    float amp = abs(meas_array[i] - avg);
    Serial.printf("%d\t%lu\t\%d\t%2.2f\n", i, microsec_array[i], meas_array[i], amp);
  }
}

void loop()
{
}

//void UpdateArrays(uint32_t usec, uint16_t measval, float aval, float avg)
void UpdateArrays(uint32_t usec, uint16_t measval)
{
  microsec_array[gl_array_idx] = usec;
  meas_array[gl_array_idx] = measval;
}

float GetAvgMeas()
{
  float avg = 0;
  float tot = 0;
  for (size_t i = 0; i < MEAS_ARRAY_SIZE; i++)
  {
    tot += meas_array[i];
  }
  avg = tot / MEAS_ARRAY_SIZE;
  Serial.printf("tot = %2.2f, avg = %2.2f\n", tot, avg);

  return avg;
}

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Name: MicSigAmplitudeMeas.ino

Created: 3/18/2024 6:35:27 PM

Author: FRANKNEWXPS15\Frank

#include "elapsedMillis.h"

#include <Audio.h>

#define MEAS_ARRAY_SIZE 50

#define AD_IN_PIN A9

#define MICROSEC_BETWEEN_ADMEAS 100

#define MIC_INPUT_PIN A9 //pin 23

#define AUDIO_OUT_HIGH 0.02

uint16_t meas_array[MEAS_ARRAY_SIZE];

uint32_t microsec_array[MEAS_ARRAY_SIZE];

AudioSynthWaveformSine sine;

AudioAmplifier amp;

AudioOutputAnalog dac;

AudioConnection patchCord1(sine, amp);

AudioConnection patchCord2(amp, dac);

elapsedMicros gl_MicrosecBetweenADMeas;

uint16_t gl_array_idx = 0;

void setup()

{

Serial.begin(115200);

Serial.printf("Hello World\n");

pinMode(MIC_INPUT_PIN, INPUT);

//analogReadRes(12);

AudioMemory(20);

dac.analogReference(EXTERNAL);

delay(50);

pinMode(5, OUTPUT); //high power DAC output

digitalWrite(5, HIGH);

delay(10);

amp.gain(1.0);

sine.frequency(1000.0);

sine.amplitude(AUDIO_OUT_HIGH);//Should be enough to fully clip

sine.phase(0.0);

delay(1000);

gl_MicrosecBetweenADMeas = 0;

gl_array_idx = 0;

//init all the arrays

for (size_t i = 0; i < MEAS_ARRAY_SIZE; i++)

{

//amp_meas_array[i] = 0;

meas_array[i] = 0;

microsec_array[i] = 0;

//avg_meas_array[i] = 0;

}

while (gl_array_idx < MEAS_ARRAY_SIZE)

{

if (gl_MicrosecBetweenADMeas >= MICROSEC_BETWEEN_ADMEAS)

{

gl_MicrosecBetweenADMeas -= MICROSEC_BETWEEN_ADMEAS;

uint16_t micVal = analogRead(MIC_INPUT_PIN);

UpdateArrays(micros(), micVal);

gl_array_idx++;

}

//print out results

float avg = GetAvgMeas();

Serial.printf("Idx:\tUsec\tMeas\tAmp\n");

for (size_t i = 0; i < MEAS_ARRAY_SIZE; i++)

{

float amp = abs(meas_array[i] - avg);

Serial.printf("%d\t%lu\t\%d\t%2.2f\n", i, microsec_array[i], meas_array[i], amp);

}

void loop()

{

}

//void UpdateArrays(uint32_t usec, uint16_t measval, float aval, float avg)

void UpdateArrays(uint32_t usec, uint16_t measval)

{

microsec_array[gl_array_idx] = usec;

meas_array[gl_array_idx] = measval;

}

float GetAvgMeas()

{

float avg = 0;

float tot = 0;

for (size_t i = 0; i < MEAS_ARRAY_SIZE; i++)

{

tot += meas_array[i];

}

avg = tot / MEAS_ARRAY_SIZE;

Serial.printf("tot = %2.2f, avg = %2.2f\n", tot, avg);

return avg;

}

I made another run with the A/D resolution set to 12 bits to see if it made any appreciable difference. As can be seen in the following Excel plot – it didn’t:

Here’s another plot showing the microphone output, but this time with the DAC sinewave output amplitude reduced to the point where the microphone output isn’t large enough to clip.

In the reduced sinewave amplitude plot above, the ‘Meas’ plot is still centered about the halfway mark in the 12-bit range of values, while the average value of the ‘Amp’ plot has been reduced from about 1800 to about 200.

So, now that I know that the DAC-Speaker-Microphone-ADC loop works, I need to extend it to record amplitude values over an extended period – at least 30 sec, and more like a minute or more.

I modified my control program to create a 1-second ‘burst’ of a HIGH amplitude sinewave, followed by an infinitely long period of a LOW amplitude sinewave. The HIGH amplitude was chosen to fully clip the microphone output, and the LOW amplitude was chosen to be well above the noise floor, but still very small compared to the HIGH amplitude signal. Here are O’scope photos of both the HIGH & LOW signals:

Here is the output from the program (the LOW amplitude output was manually terminated after a few seconds):

1617: Starting 1-second burst at AUDIO_OUT_HIGH amplitude
Msec	D_Msec	AvgAmp
1622	1622	2045.9
1823	201	1421.2
2024	201	1453.2
2225	201	1495.7
2426	201	1136.4
2626: Finished 1-second burst at AUDIO_OUT_HIGH amplitude
Msec	D_Msec	AvgAmp
2627	1	927.6
2828	201	104.2
3029	201	115.7
3230	201	94.1
3431	201	102.5
3632	201	104.7
3833	201	104.4
4034	201	115.4
4235	201	104.9
4436	201	116.7
4637	201	113.6
4838	201	102.1
5039	201	107.0
5240	201	161.6
5441	201	153.3
5642	201	167.4
5843	201	171.8
6044	201	170.8
6245	201	186.8
6446	201	179.4
6647	201	202.0
6848	201	204.8
7049	201	204.0
7250	201	191.0
7451	201	212.0
7652	201	209.0
7853	201	190.2
8055	202	180.9
8256	201	169.2
8457	201	168.0
8658	201	180.9
8859	201	147.6
9060	201	145.1
9261	201	152.9
9462	201	156.6
9663	201	119.8
9864	201	122.5

1617: Starting 1-second burst at AUDIO_OUT_HIGH amplitude

Msec D_Msec AvgAmp

1622 1622 2045.9

1823 201 1421.2

2024 201 1453.2

2225 201 1495.7

2426 201 1136.4

2626: Finished 1-second burst at AUDIO_OUT_HIGH amplitude

Msec D_Msec AvgAmp

2627 1 927.6

2828 201 104.2

3029 201 115.7

3230 201 94.1

3431 201 102.5

3632 201 104.7

3833 201 104.4

4034 201 115.4

4235 201 104.9

4436 201 116.7

4637 201 113.6

4838 201 102.1

5039 201 107.0

5240 201 161.6

5441 201 153.3

5642 201 167.4

5843 201 171.8

6044 201 170.8

6245 201 186.8

6446 201 179.4

6647 201 202.0

6848 201 204.8

7049 201 204.0

7250 201 191.0

7451 201 212.0

7652 201 209.0

7853 201 190.2

8055 202 180.9

8256 201 169.2

8457 201 168.0

8658 201 180.9

8859 201 147.6

9060 201 145.1

9261 201 152.9

9462 201 156.6

9663 201 119.8

9864 201 122.5

31 March 2024 Update:

After getting all of the above working, I then installed one of my Jabra ‘Enhance 200’ aides in between the speaker and the microphone, as shown in the photos below:

With the aid installed, I got the following microphone output using my ‘burst + long-term low level audio’ setup.

Even though the Jabra aid did NOT exhibit anything like the AGC behavior I expected, there *was* a sort of cyclical response with the Jabra aid that wasn’t there without the aid in the middle. This cyclical behavior repeats about once every five seconds and *could* be some sort of AGC-like behavior – just not the one I was expecting.

Stay tuned,

Frank

Convert Condor Task Briefing Custom Waypoint Description Blocks to XCSoar-compatible .CUP Format ‘Additional Waypoints’ file

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Posted 23 March 2024

After a multi-year hiatus, I recently started flying contests again in the Condor Soaring Simulator. As sort of a side project, I have also been working with the XCSoar glider navigation program, to see if I could use XCSoar to help navigate AAT/TAT tasks in Condor (Condor doesn’t support AAT/TAT tasks natively with the in-sim PDA).

After using XCSoar for a while, I became frustrated with XCSoar’s inability to define ‘custom’ turnpoints based on LAT/LON coordinates, which are used quite frequently in Condor contest tasks. After a long-fought and ultimately unsuccessful battle with XCSoar’s source code to see if I could modify the program to facilitate this, I admitted defeat and decided to try another way to skin this cat. XCSoar will accept an ‘Additional Waypoints’ file, so I decided to see if I could create a program to convert the ‘new TP’ blocks in the Condor ‘Task Briefing’ description to XCSoar-compatile .CUP file waypoint lines, which could then be loaded into XCSoar for selection as task waypoints.

Here is the .CUP file format defintion page from the SeeYou (naviter) program website:

The above description is NOT very easy to read. It is full of errors, so some imagination is required to make sense of it. The ‘hardpoints’ in the description are as follows:

Latitude strings are exactly 9 characters long. Longitude strings are exactly 10 characters long.
In latitude strings, the decimal point is exactly the 5th character (Char4) . In longitude strings, the decimal point is exactly the 6th character (Char5).
Both latitude and longitude strings apparently must be zero-padded as necessary to make the string character counts work out. For instance, in the longitude example the ‘degree’ value of ‘014’ must be exactly three characters.

Example Run:

Here’s a recent task briefing from Condor-Club:

As can be seen in the above screengrab, TP2-TP2 are all ‘custom’ turnpoints defined only by Lat/Lon coordinates. Manually adding these to a .CUP formatted file for use in XCSoar would be essentially impossible, given that the turnpoint coordinates only become visible 15 minutes before server start.

To start the process, the turnpoint blocks from the above briefing were copy/pasted one at a time into a text document (I use NotePad++), as follows (note that I manually changed the name of the last turnpoint from ‘Finish’ to TP 6, as my Python script currently only looks for ‘Start’ and ‘TP’ starting strings)

TP 2 (955 m.)
Heading: 93° for 65.1 km,
Coords: 49.8.359N / 20.14.201E
Classic turnpoint,
min. height: 0 m., max.: 10,000 m.
angle: 360°, radius: 1,000 m.

TP 3 (781 m.)
Heading: 158° for 32.7 km,
Coords: 48.51.629N / 20.22.768E
Classic turnpoint,
min. height: 0 m., max.: 10,000 m.
angle: 360°, radius: 1,000 m.

TP 4 (617 m.)
Heading: 268° for 99.2 km,
Coords: 48.49.454N / 19.1.724E
Classic turnpoint,
min. height: 0 m., max.: 10,000 m.
angle: 360°, radius: 1,000 m.

TP 5 (394 m.)
Heading: 138° for 24.1 km,
Coords: 48.39.956N / 19.15.148E
Classic turnpoint,
min. height: 0 m., max.: 10,000 m.
angle: 360°, radius: 1,000 m.

TP 6 (204 m.)
Heading: 106° for 84.8 km,
Coords: 48.31.81N / 20.22.800E
Classic turnpoint,
min. height: 0 m., max.: 10,000 m.
angle: 180°, radius: 1,500 m.

TP 2 (955 m.)

Heading: 93° for 65.1 km,

Coords: 49.8.359N / 20.14.201E

Classic turnpoint,

min. height: 0 m., max.: 10,000 m.

angle: 360°, radius: 1,000 m.

TP 3 (781 m.)

Heading: 158° for 32.7 km,

Coords: 48.51.629N / 20.22.768E

Classic turnpoint,

min. height: 0 m., max.: 10,000 m.

angle: 360°, radius: 1,000 m.

TP 4 (617 m.)

Heading: 268° for 99.2 km,

Coords: 48.49.454N / 19.1.724E

Classic turnpoint,

min. height: 0 m., max.: 10,000 m.

angle: 360°, radius: 1,000 m.

TP 5 (394 m.)

Heading: 138° for 24.1 km,

Coords: 48.39.956N / 19.15.148E

Classic turnpoint,

min. height: 0 m., max.: 10,000 m.

angle: 360°, radius: 1,000 m.

TP 6 (204 m.)

Heading: 106° for 84.8 km,

Coords: 48.31.81N / 20.22.800E

Classic turnpoint,

min. height: 0 m., max.: 10,000 m.

angle: 180°, radius: 1,500 m.

My CondorTPX_to_CupWP.py Python script opens a ‘FileOpen’ dialog where the input file (in this case ‘NewTPs_IN.txt’) can be selected by the user, and a ‘FileSave’ dialog where the output file (in this case ‘NewTPS_OUT.CUP’) can be selected, and then parses through the blocks in the input file, converting them to equivalent .CUP-formatted lines compatible with XCSoar. Here is the console printout from the ‘verbose’ (-v) version of the script:

File containing custom Condor task turnpoints = C:/Users/Frank/Desktop/NewTPS_IN.txt
File to which XCSoar-compatible turnpoint lines will be written = C:/Users/Frank/Desktop/NewTPS_OUT.txt
list contains 34 items
0: TP 2 (955 m.)

1: Heading: 93° for 65.1 km,

2: Coords: 49.8.359N / 20.14.201E

3: Classic turnpoint,

4: min. height: 0 m., max.: 10,000 m.

5: angle: 360°, radius: 1,000 m.

6:

7: TP 3 (781 m.)

8: Heading: 158° for 32.7 km,

9: Coords: 48.51.629N / 20.22.768E

10: Classic turnpoint,

11: min. height: 0 m., max.: 10,000 m.

12: angle: 360°, radius: 1,000 m.

13:

14: TP 4 (617 m.)

15: Heading: 268° for 99.2 km,

16: Coords: 48.49.454N / 19.1.724E

17: Classic turnpoint,

18: min. height: 0 m., max.: 10,000 m.

19: angle: 360°, radius: 1,000 m.

20:

21: TP 5 (394 m.)

22: Heading: 138° for 24.1 km,

23: Coords: 48.39.956N / 19.15.148E

24: Classic turnpoint,

25: min. height: 0 m., max.: 10,000 m.

26: angle: 360°, radius: 1,000 m.

27:

28: TP 6 (204 m.)

29: Heading: 106° for 84.8 km,

30: Coords: 48.31.81N / 20.22.800E

31: Classic turnpoint,

32: min. height: 0 m., max.: 10,000 m.

33: angle: 180°, radius: 1,500 m.


Start Processing Lines

0: TP 2 (955 m.)

In ConstructCUPString(tpname = NewTP 2, inlist_idx = 0)
['Coords:', '49.8.359N', '/', '20.14.201E']
Constructing Latitude...

latitude string = 49.8.359N
latitude lat_deg str = 49
latitude lat_deg = 49
after adjustment, latitude deg str = 49
lat_deg_dot_idx = 2, min_dot_idx = 4
latitude minplusdec str = 8.359N
latitude NorS str = N
latitude min dot idx = 1
latitude min val str = 8
latitude min dec val str = 359
after 'len < 2' adjustment, latitude min str = 08
after 'len < 2' adjustment, latitude min dec str = 359
latitude min = 8
latitude min str = 08
latitude .CUP str = 4908.359N

Constructing Longitude...

longitude string = 20.14.201E
longitude lon_deg str = 20
longitude lon_deg = 20
after 'len < 3' adjustment, longitude deg str = 020
lon_deg_dot_idx = 2, min_dot_idx = 5
longitude minplusdec str = 14.201E
longitude EorW str = E
longitude min dot idx = 2
longitude min val str = 14
longitude min dec val str = 201
after 'len < 2' adjustment, longitude min str = 14
after 'len < 3' adjustment, longitude min dec str = 201
longitude .CUP str = 02014.201E

Extracting Turnpoint Style:
stylestr = Classic

numstr =  2
back in main pgm: cupstr = NewTP 2, NewTP 2, ,4908.359N, 02014.201E, ,Classic, , , ,,  x = 4
5: angle: 360°, radius: 1,000 m.

numstr =
back in main pgm: cupstr = ,  x = 5
6:

numstr =
back in main pgm: cupstr = ,  x = 6
7: TP 3 (781 m.)

In ConstructCUPString(tpname = NewTP 3, inlist_idx = 7)
['Coords:', '48.51.629N', '/', '20.22.768E']
Constructing Latitude...

latitude string = 48.51.629N
latitude lat_deg str = 48
latitude lat_deg = 48
after adjustment, latitude deg str = 48
lat_deg_dot_idx = 2, min_dot_idx = 5
latitude minplusdec str = 51.629N
latitude NorS str = N
latitude min dot idx = 2
latitude min val str = 51
latitude min dec val str = 629
after 'len < 2' adjustment, latitude min str = 51
after 'len < 2' adjustment, latitude min dec str = 629
latitude min = 51
latitude min str = 51
latitude .CUP str = 4851.629N

Constructing Longitude...

longitude string = 20.22.768E
longitude lon_deg str = 20
longitude lon_deg = 20
after 'len < 3' adjustment, longitude deg str = 020
lon_deg_dot_idx = 2, min_dot_idx = 5
longitude minplusdec str = 22.768E
longitude EorW str = E
longitude min dot idx = 2
longitude min val str = 22
longitude min dec val str = 768
after 'len < 2' adjustment, longitude min str = 22
after 'len < 3' adjustment, longitude min dec str = 768
longitude .CUP str = 02022.768E

Extracting Turnpoint Style:
stylestr = Classic

numstr =  3
back in main pgm: cupstr = NewTP 3, NewTP 3, ,4851.629N, 02022.768E, ,Classic, , , ,,  x = 11
12: angle: 360°, radius: 1,000 m.

numstr =
back in main pgm: cupstr = ,  x = 12
13:

numstr =
back in main pgm: cupstr = ,  x = 13
14: TP 4 (617 m.)

In ConstructCUPString(tpname = NewTP 4, inlist_idx = 14)
['Coords:', '48.49.454N', '/', '19.1.724E']
Constructing Latitude...

latitude string = 48.49.454N
latitude lat_deg str = 48
latitude lat_deg = 48
after adjustment, latitude deg str = 48
lat_deg_dot_idx = 2, min_dot_idx = 5
latitude minplusdec str = 49.454N
latitude NorS str = N
latitude min dot idx = 2
latitude min val str = 49
latitude min dec val str = 454
after 'len < 2' adjustment, latitude min str = 49
after 'len < 2' adjustment, latitude min dec str = 454
latitude min = 49
latitude min str = 49
latitude .CUP str = 4849.454N

Constructing Longitude...

longitude string = 19.1.724E
longitude lon_deg str = 19
longitude lon_deg = 19
after 'len < 3' adjustment, longitude deg str = 019
lon_deg_dot_idx = 2, min_dot_idx = 4
longitude minplusdec str = 1.724E
longitude EorW str = E
longitude min dot idx = 1
longitude min val str = 1
longitude min dec val str = 724
after 'len < 2' adjustment, longitude min str = 01
after 'len < 3' adjustment, longitude min dec str = 724
longitude .CUP str = 01901.724E

Extracting Turnpoint Style:
stylestr = Classic

numstr =  4
back in main pgm: cupstr = NewTP 4, NewTP 4, ,4849.454N, 01901.724E, ,Classic, , , ,,  x = 18
19: angle: 360°, radius: 1,000 m.

numstr =
back in main pgm: cupstr = ,  x = 19
20:

numstr =
back in main pgm: cupstr = ,  x = 20
21: TP 5 (394 m.)

In ConstructCUPString(tpname = NewTP 5, inlist_idx = 21)
['Coords:', '48.39.956N', '/', '19.15.148E']
Constructing Latitude...

latitude string = 48.39.956N
latitude lat_deg str = 48
latitude lat_deg = 48
after adjustment, latitude deg str = 48
lat_deg_dot_idx = 2, min_dot_idx = 5
latitude minplusdec str = 39.956N
latitude NorS str = N
latitude min dot idx = 2
latitude min val str = 39
latitude min dec val str = 956
after 'len < 2' adjustment, latitude min str = 39
after 'len < 2' adjustment, latitude min dec str = 956
latitude min = 39
latitude min str = 39
latitude .CUP str = 4839.956N

Constructing Longitude...

longitude string = 19.15.148E
longitude lon_deg str = 19
longitude lon_deg = 19
after 'len < 3' adjustment, longitude deg str = 019
lon_deg_dot_idx = 2, min_dot_idx = 5
longitude minplusdec str = 15.148E
longitude EorW str = E
longitude min dot idx = 2
longitude min val str = 15
longitude min dec val str = 148
after 'len < 2' adjustment, longitude min str = 15
after 'len < 3' adjustment, longitude min dec str = 148
longitude .CUP str = 01915.148E

Extracting Turnpoint Style:
stylestr = Classic

numstr =  5
back in main pgm: cupstr = NewTP 5, NewTP 5, ,4839.956N, 01915.148E, ,Classic, , , ,,  x = 25
26: angle: 360°, radius: 1,000 m.

numstr =
back in main pgm: cupstr = ,  x = 26
27:

numstr =
back in main pgm: cupstr = ,  x = 27
28: TP 6 (204 m.)

In ConstructCUPString(tpname = NewTP 6, inlist_idx = 28)
['Coords:', '48.31.81N', '/', '20.22.800E']
Constructing Latitude...

latitude string = 48.31.81N
latitude lat_deg str = 48
latitude lat_deg = 48
after adjustment, latitude deg str = 48
lat_deg_dot_idx = 2, min_dot_idx = 5
latitude minplusdec str = 31.81N
latitude NorS str = N
latitude min dot idx = 2
latitude min val str = 31
latitude min dec val str = 81
after 'len < 2' adjustment, latitude min str = 31
after 'len < 2' adjustment, latitude min dec str = 810
latitude min = 31
latitude min str = 31
latitude .CUP str = 4831.810N

Constructing Longitude...

longitude string = 20.22.800E
longitude lon_deg str = 20
longitude lon_deg = 20
after 'len < 3' adjustment, longitude deg str = 020
lon_deg_dot_idx = 2, min_dot_idx = 5
longitude minplusdec str = 22.800E
longitude EorW str = E
longitude min dot idx = 2
longitude min val str = 22
longitude min dec val str = 800
after 'len < 2' adjustment, longitude min str = 22
after 'len < 3' adjustment, longitude min dec str = 800
longitude .CUP str = 02022.800E

Extracting Turnpoint Style:
stylestr = Classic

numstr =  6
back in main pgm: cupstr = NewTP 6, NewTP 6, ,4831.810N, 02022.800E, ,Classic, , , ,,  x = 32
33: angle: 180°, radius: 1,500 m.

numstr =
back in main pgm: cupstr = ,  x = 33
all 34 infile lines processed

Contents of output file C:/Users/Frank/Desktop/NewTPS_OUT.txt
name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc

NewTP 2, NewTP 2, ,4908.359N, 02014.201E, ,Classic, , , ,

NewTP 3, NewTP 3, ,4851.629N, 02022.768E, ,Classic, , , ,

NewTP 4, NewTP 4, ,4849.454N, 01901.724E, ,Classic, , , ,

NewTP 5, NewTP 5, ,4839.956N, 01915.148E, ,Classic, , , ,

NewTP 6, NewTP 6, ,4831.810N, 02022.800E, ,Classic, , , ,

Press any key to continue . . .

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File containing custom Condor task turnpoints = C:/Users/Frank/Desktop/NewTPS_IN.txt

File to which XCSoar-compatible turnpoint lines will be written = C:/Users/Frank/Desktop/NewTPS_OUT.txt

list contains 34 items

0: TP 2 (955 m.)

1: Heading: 93° for 65.1 km,

2: Coords: 49.8.359N / 20.14.201E

3: Classic turnpoint,

4: min. height: 0 m., max.: 10,000 m.

5: angle: 360°, radius: 1,000 m.

7: TP 3 (781 m.)

8: Heading: 158° for 32.7 km,

9: Coords: 48.51.629N / 20.22.768E

10: Classic turnpoint,

11: min. height: 0 m., max.: 10,000 m.

12: angle: 360°, radius: 1,000 m.

13:

14: TP 4 (617 m.)

15: Heading: 268° for 99.2 km,

16: Coords: 48.49.454N / 19.1.724E

17: Classic turnpoint,

18: min. height: 0 m., max.: 10,000 m.

19: angle: 360°, radius: 1,000 m.

20:

21: TP 5 (394 m.)

22: Heading: 138° for 24.1 km,

23: Coords: 48.39.956N / 19.15.148E

24: Classic turnpoint,

25: min. height: 0 m., max.: 10,000 m.

26: angle: 360°, radius: 1,000 m.

27:

28: TP 6 (204 m.)

29: Heading: 106° for 84.8 km,

30: Coords: 48.31.81N / 20.22.800E

31: Classic turnpoint,

32: min. height: 0 m., max.: 10,000 m.

33: angle: 180°, radius: 1,500 m.

Start Processing Lines

0: TP 2 (955 m.)

In ConstructCUPString(tpname = NewTP 2, inlist_idx = 0)

['Coords:', '49.8.359N', '/', '20.14.201E']

Constructing Latitude...

latitude string = 49.8.359N

latitude lat_deg str = 49

latitude lat_deg = 49

after adjustment, latitude deg str = 49

lat_deg_dot_idx = 2, min_dot_idx = 4

latitude minplusdec str = 8.359N

latitude NorS str = N

latitude min dot idx = 1

latitude min val str = 8

latitude min dec val str = 359

after 'len < 2' adjustment, latitude min str = 08

after 'len < 2' adjustment, latitude min dec str = 359

latitude min = 8

latitude min str = 08

latitude .CUP str = 4908.359N

Constructing Longitude...

longitude string = 20.14.201E

longitude lon_deg str = 20

longitude lon_deg = 20

after 'len < 3' adjustment, longitude deg str = 020

lon_deg_dot_idx = 2, min_dot_idx = 5

longitude minplusdec str = 14.201E

longitude EorW str = E

longitude min dot idx = 2

longitude min val str = 14

longitude min dec val str = 201

after 'len < 2' adjustment, longitude min str = 14

after 'len < 3' adjustment, longitude min dec str = 201

longitude .CUP str = 02014.201E

Extracting Turnpoint Style:

stylestr = Classic

numstr = 2

back in main pgm: cupstr = NewTP 2, NewTP 2, ,4908.359N, 02014.201E, ,Classic, , , ,, x = 4

5: angle: 360°, radius: 1,000 m.

numstr =

back in main pgm: cupstr = , x = 5

numstr =

back in main pgm: cupstr = , x = 6

7: TP 3 (781 m.)

In ConstructCUPString(tpname = NewTP 3, inlist_idx = 7)

['Coords:', '48.51.629N', '/', '20.22.768E']

Constructing Latitude...

latitude string = 48.51.629N

latitude lat_deg str = 48

latitude lat_deg = 48

after adjustment, latitude deg str = 48

lat_deg_dot_idx = 2, min_dot_idx = 5

latitude minplusdec str = 51.629N

latitude NorS str = N

latitude min dot idx = 2

latitude min val str = 51

latitude min dec val str = 629

after 'len < 2' adjustment, latitude min str = 51

after 'len < 2' adjustment, latitude min dec str = 629

latitude min = 51

latitude min str = 51

latitude .CUP str = 4851.629N

Constructing Longitude...

longitude string = 20.22.768E

longitude lon_deg str = 20

longitude lon_deg = 20

after 'len < 3' adjustment, longitude deg str = 020

lon_deg_dot_idx = 2, min_dot_idx = 5

longitude minplusdec str = 22.768E

longitude EorW str = E

longitude min dot idx = 2

longitude min val str = 22

longitude min dec val str = 768

after 'len < 2' adjustment, longitude min str = 22

after 'len < 3' adjustment, longitude min dec str = 768

longitude .CUP str = 02022.768E

Extracting Turnpoint Style:

stylestr = Classic

numstr = 3

back in main pgm: cupstr = NewTP 3, NewTP 3, ,4851.629N, 02022.768E, ,Classic, , , ,, x = 11

12: angle: 360°, radius: 1,000 m.

numstr =

back in main pgm: cupstr = , x = 12

13:

numstr =

back in main pgm: cupstr = , x = 13

14: TP 4 (617 m.)

In ConstructCUPString(tpname = NewTP 4, inlist_idx = 14)

['Coords:', '48.49.454N', '/', '19.1.724E']

Constructing Latitude...

latitude string = 48.49.454N

latitude lat_deg str = 48

latitude lat_deg = 48

after adjustment, latitude deg str = 48

lat_deg_dot_idx = 2, min_dot_idx = 5

latitude minplusdec str = 49.454N

latitude NorS str = N

latitude min dot idx = 2

latitude min val str = 49

latitude min dec val str = 454

after 'len < 2' adjustment, latitude min str = 49

after 'len < 2' adjustment, latitude min dec str = 454

latitude min = 49

latitude min str = 49

latitude .CUP str = 4849.454N

Constructing Longitude...

longitude string = 19.1.724E

longitude lon_deg str = 19

longitude lon_deg = 19

after 'len < 3' adjustment, longitude deg str = 019

lon_deg_dot_idx = 2, min_dot_idx = 4

longitude minplusdec str = 1.724E

longitude EorW str = E

longitude min dot idx = 1

longitude min val str = 1

longitude min dec val str = 724

after 'len < 2' adjustment, longitude min str = 01

after 'len < 3' adjustment, longitude min dec str = 724

longitude .CUP str = 01901.724E

Extracting Turnpoint Style:

stylestr = Classic

numstr = 4

back in main pgm: cupstr = NewTP 4, NewTP 4, ,4849.454N, 01901.724E, ,Classic, , , ,, x = 18

19: angle: 360°, radius: 1,000 m.

numstr =

back in main pgm: cupstr = , x = 19

20:

numstr =

back in main pgm: cupstr = , x = 20

21: TP 5 (394 m.)

In ConstructCUPString(tpname = NewTP 5, inlist_idx = 21)

['Coords:', '48.39.956N', '/', '19.15.148E']

Constructing Latitude...

latitude string = 48.39.956N

latitude lat_deg str = 48

latitude lat_deg = 48

after adjustment, latitude deg str = 48

lat_deg_dot_idx = 2, min_dot_idx = 5

latitude minplusdec str = 39.956N

latitude NorS str = N

latitude min dot idx = 2

latitude min val str = 39

latitude min dec val str = 956

after 'len < 2' adjustment, latitude min str = 39

after 'len < 2' adjustment, latitude min dec str = 956

latitude min = 39

latitude min str = 39

latitude .CUP str = 4839.956N

Constructing Longitude...

longitude string = 19.15.148E

longitude lon_deg str = 19

longitude lon_deg = 19

after 'len < 3' adjustment, longitude deg str = 019

lon_deg_dot_idx = 2, min_dot_idx = 5

longitude minplusdec str = 15.148E

longitude EorW str = E

longitude min dot idx = 2

longitude min val str = 15

longitude min dec val str = 148

after 'len < 2' adjustment, longitude min str = 15

after 'len < 3' adjustment, longitude min dec str = 148

longitude .CUP str = 01915.148E

Extracting Turnpoint Style:

stylestr = Classic

numstr = 5

back in main pgm: cupstr = NewTP 5, NewTP 5, ,4839.956N, 01915.148E, ,Classic, , , ,, x = 25

26: angle: 360°, radius: 1,000 m.

numstr =

back in main pgm: cupstr = , x = 26

27:

numstr =

back in main pgm: cupstr = , x = 27

28: TP 6 (204 m.)

In ConstructCUPString(tpname = NewTP 6, inlist_idx = 28)

['Coords:', '48.31.81N', '/', '20.22.800E']

Constructing Latitude...

latitude string = 48.31.81N

latitude lat_deg str = 48

latitude lat_deg = 48

after adjustment, latitude deg str = 48

lat_deg_dot_idx = 2, min_dot_idx = 5

latitude minplusdec str = 31.81N

latitude NorS str = N

latitude min dot idx = 2

latitude min val str = 31

latitude min dec val str = 81

after 'len < 2' adjustment, latitude min str = 31

after 'len < 2' adjustment, latitude min dec str = 810

latitude min = 31

latitude min str = 31

latitude .CUP str = 4831.810N

Constructing Longitude...

longitude string = 20.22.800E

longitude lon_deg str = 20

longitude lon_deg = 20

after 'len < 3' adjustment, longitude deg str = 020

lon_deg_dot_idx = 2, min_dot_idx = 5

longitude minplusdec str = 22.800E

longitude EorW str = E

longitude min dot idx = 2

longitude min val str = 22

longitude min dec val str = 800

after 'len < 2' adjustment, longitude min str = 22

after 'len < 3' adjustment, longitude min dec str = 800

longitude .CUP str = 02022.800E

Extracting Turnpoint Style:

stylestr = Classic

numstr = 6

back in main pgm: cupstr = NewTP 6, NewTP 6, ,4831.810N, 02022.800E, ,Classic, , , ,, x = 32

33: angle: 180°, radius: 1,500 m.

numstr =

back in main pgm: cupstr = , x = 33

all 34 infile lines processed

Contents of output file C:/Users/Frank/Desktop/NewTPS_OUT.txt

name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc

NewTP 2, NewTP 2, ,4908.359N, 02014.201E, ,Classic, , , ,

NewTP 3, NewTP 3, ,4851.629N, 02022.768E, ,Classic, , , ,

NewTP 4, NewTP 4, ,4849.454N, 01901.724E, ,Classic, , , ,

NewTP 5, NewTP 5, ,4839.956N, 01915.148E, ,Classic, , , ,

NewTP 6, NewTP 6, ,4831.810N, 02022.800E, ,Classic, , , ,

Press any key to continue . . .

At the very end of the above printout, the newly-written contents of the output file are read back out again as a verification that the conversion was successful. Here is the actual contents of the ‘NewTPS_OUT.CUP’ file:

name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc
NewTP 2, NewTP 2, ,4908.359N, 02014.201E, ,Classic, , , ,
NewTP 3, NewTP 3, ,4851.629N, 02022.768E, ,Classic, , , ,
NewTP 4, NewTP 4, ,4849.454N, 01901.724E, ,Classic, , , ,
NewTP 5, NewTP 5, ,4839.956N, 01915.148E, ,Classic, , , ,
NewTP 6, NewTP 6, ,4831.810N, 02022.800E, ,Classic, , , ,

name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc

NewTP 2, NewTP 2, ,4908.359N, 02014.201E, ,Classic, , , ,

NewTP 3, NewTP 3, ,4851.629N, 02022.768E, ,Classic, , , ,

NewTP 4, NewTP 4, ,4849.454N, 01901.724E, ,Classic, , , ,

NewTP 5, NewTP 5, ,4839.956N, 01915.148E, ,Classic, , , ,

NewTP 6, NewTP 6, ,4831.810N, 02022.800E, ,Classic, , , ,

This file now has to be transferred to the directory used by XCSoar for waypoints, and then selected in XCSoar (Config->System->Site Files) to load as the ‘More Waypoints’ selection. After this, all the above turnpoints will be available for task construction. Here’s a photo of my Android tablet with the above task turnpoints loaded:

XCSoar task map, using converted task briefing turnpoint blocks

Same task as above, from Condor-Club briefing

It is clear from the above images that the Condor-Club ‘custom’ task turnpoints have been converted properly from text blocks to SeeYou .CUP format waypoint strings, so now I can use XCSoar to navigate Condor tasks with ‘custom’ turnpoints – Yay!

Here’s the Python script I created to do the conversion:

# This Python file uses the following encoding: utf-8
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--verbose", help="increase output verbosity",
                    action="store_true")
args = parser.parse_args()

# Purpose:  Convert Condor task 'New TP' turnpoints (copy/pasted from Condor task description
# to a text file) to CUP-formatted strings and write them to a user-selected file to be used
# in XCSoar

# CUP file format:
# name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc
#"Cruseilles",Cruseill,,4601.100N,00606.400E,716.0m,1,,,,
#"Marignane",,,4325.998N,00512.846E,4m,5,317,2500,0,

#Condor Task 'New Waypoint' format:
# TP 2 (7,362 ft)
# Heading: 144° for 46.8 NM,
# Coords: 45.23.99N / 6.45.300E
# Classic turnpoint,
# min. height: 0 ft, max.: 32,808 ft
# angle: 360°, radius: 3,281 ft

#Plan:
#   Step1: Get text file containing Condor 'newTP' blocks copy/pasted from task description
#   Step2: Get 'outfile' filename to write .CUP lines to. Create if necessary. 
#           If aleady existing, ask user if we can overwrite. 'No' causes program to exit
#   Step3: Read lines until finding a line starting with 'TP' or 'Start'
#   Step4: Parse 'Coords' line to get coordinate Lat/Lon strings
#   Step5: Construct .CUP formatted line & write to outfile

#   Step1: Get text file containing Condor 'newTP' blocks copy/pasted from task description
import tkinter as tk
from tkinter.filedialog import askopenfilename, asksaveasfilename
root = tk.Tk() ; root.withdraw()


# PURPOSE: constructs a .CUP-formatted string from the (six?) lines waypoint
# block in the typical Condor-club task briefing.
# For example:
# ----------------------------------------------------------------------
# Start (2,434 ft)
# Heading: 115° for 3.9 NM,
# Coords: 46.31.377N / 6.42.372E
# Classic turnpoint,
# min. height: 0 ft, max.: 6,234 ft
# angle: 180°, radius: 13,123 ft
# ----------------------------------------------------------------------
# The CUP waypoint format is:
# name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc
# but we are only going to fill the name, code, lat, lon and style fields
#Inputs:
#   TPName = string containing the name to be used in the .CUP string
#   x = integer denoting index into the turnpoint block string list acquired from the input file
#Outputs
#   returns a string and the INDEX TO THE NEXT LINE in the list of strings from the input file
#Plan:
#   Step1: assign 'TPname' to 'name' and 'code'
#   Step2: skip the 'Heading' line
#   Step3: extract the lat/lon strings from the 'Coords' line and convert them to .CUP format
#   Step4: extract the style string from the next line
#   Step5: concatenate the above, with appropriate ',' entries for blank entries

def ConstructCUPString(tpname, inlist, inlist_idx):
    if args.verbose:
        print(f"In ConstructCUPString(tpname = {tpname}, inlist_idx = {inlist_idx})")
        
#Step1: assign 'TPname' to 'name' and 'code'
    namestr = tpname
    codestr = tpname
    
#Step2: skip the 'Heading' line
    inlist_idx += 2
#Step3: extract the lat/lon strings from the 'Coords' line and convert them to .CUP format
    
#  From SeeYou site: Latitude is a field of length 9, where char0-1 are degrees, Char2-3 are minutes, Char4 decimal point,
# char5-7 are decimal minutes and char8 is either N or S. The ellipsoid used is WGS-1984
# Example: SeeYou 5107.830N is equal to 51° 07.830' N    print(f"inlist[{inlist_idx}] = {inlist[inlist_idx]}")
    coordstrlist = inlist[inlist_idx].split()
    
    if args.verbose:
        print(coordstrlist)
        print("Constructing Latitude...\n")
    
    #latitude deg
    latstr = coordstrlist[1]
    
    if args.verbose:
        print(f"latitude string = {latstr}")
        
    lat_deg_dot_idx = latstr.find('.')
    lat_deg_val_str = latstr[0:lat_deg_dot_idx]
    lat_deg_val = int(lat_deg_val_str)
    if args.verbose:
        print(f"latitude lat_deg str = {lat_deg_val_str}")
        print(f"latitude lat_deg = {lat_deg_val}")
    
    #if necessary, add leading zero(s) to lat_deg value
    if len(lat_deg_val_str) < 2:
        if len(lat_deg_val_str) < 1:
            lat_deg_val_str = '0'+ lat_deg_val_str
        lat_deg_val_str = '0'+ lat_deg_val_str
    if args.verbose:
        print(f"after adjustment, latitude deg str = {lat_deg_val_str}")
    
    #latitude min
    min_dot_idx = latstr.find('.',lat_deg_dot_idx +1 )
    if args.verbose:
        print(f"lat_deg_dot_idx = {lat_deg_dot_idx}, min_dot_idx = {min_dot_idx}")
        
    minplusdec_str = latstr[lat_deg_dot_idx +1:] #still has 'N/S' appended
    lat_NorS_str = minplusdec_str[len(minplusdec_str)-1]
    minplusdec_str = minplusdec_str[0:len(minplusdec_str)]
    if args.verbose:
        print(f"latitude minplusdec str = {minplusdec_str}")
        print(f"latitude NorS str = {lat_NorS_str}")
        
    lat_min_dot_idx = minplusdec_str.find('.')
    if args.verbose:
        print(f"latitude min dot idx = {lat_min_dot_idx}")
        
    lat_min_val_str = minplusdec_str[0:lat_min_dot_idx]
    if args.verbose:
        print(f"latitude min val str = {lat_min_val_str}")
        
    lat_min_dec_val_str = minplusdec_str[lat_min_dot_idx + 1: len(minplusdec_str)-1]
    if args.verbose:
        print(f"latitude min dec val str = {lat_min_dec_val_str}")
    lat_min_dec_val = int(lat_min_dec_val_str)
    lat_min_val = int(lat_min_val_str)
    
    #if necessary, add leading zero(s) to minutes value
    if len(lat_min_val_str) < 2:
        if len(lat_min_val_str):
            lat_min_val_str = '0'+ lat_min_val_str
    if args.verbose:
        print(f"after 'len < 2' adjustment, latitude min str = {lat_min_val_str}")
        
    
    #if necessary, add trailing zero(s) to minutes decimal value
    if len(lat_min_dec_val_str) < 3:
        if len(lat_min_dec_val_str) < 2:
            lat_min_dec_val_str = lat_min_dec_val_str + '0'
        lat_min_dec_val_str = lat_min_dec_val_str + '0'
    if args.verbose:
        print(f"after 'len < 2' adjustment, latitude min dec str = {lat_min_dec_val_str}")
        print(f"latitude min = {lat_min_val}")
        print(f"latitude min str = {lat_min_val_str}")
        
    #now construct SeeYou equivalent
    
    cuplatstr = lat_deg_val_str + lat_min_val_str + '.' + lat_min_dec_val_str + lat_NorS_str
    if args.verbose:
        print(f"latitude .CUP str = {cuplatstr}")
        print("\nConstructing Longitude...\n")
    
    lonstr = coordstrlist[3]
    if args.verbose:
        print(f"longitude string = {lonstr}")
 
    lon_deg_dot_idx = lonstr.find('.')
    lon_deg_val_str = lonstr[0:lon_deg_dot_idx]
    lon_deg_val = int(lon_deg_val_str)
    if args.verbose:
        print(f"longitude lon_deg str = {lon_deg_val_str}")
        print(f"longitude lon_deg = {lon_deg_val}")
    
    #if necessary, add leading zero(s) to lon_deg value
    if len(lon_deg_val_str) < 3:
        if len(lon_deg_val_str) < 2:
            lon_deg_val_str = '0'+ lon_deg_val_str
        lon_deg_val_str = '0'+ lon_deg_val_str
    if args.verbose:
        print(f"after 'len < 3' adjustment, longitude deg str = {lon_deg_val_str}")
    
    #longitude min
    min_dot_idx = lonstr.find('.',lon_deg_dot_idx +1 )
    if args.verbose:
        print(f"lon_deg_dot_idx = {lon_deg_dot_idx}, min_dot_idx = {min_dot_idx}")
    
    minplusdec_str = lonstr[lon_deg_dot_idx +1:] #still has 'E/W' appended
    lon_EorW_str = minplusdec_str[len(minplusdec_str)-1]
    minplusdec_str = minplusdec_str[0:len(minplusdec_str)]
    if args.verbose:
        print(f"longitude minplusdec str = {minplusdec_str}")
        print(f"longitude EorW str = {lon_EorW_str}")
        
    lon_min_dot_idx = minplusdec_str.find('.')
    lon_min_val_str = minplusdec_str[0:lon_min_dot_idx]
    lon_min_dec_val_str = minplusdec_str[lon_min_dot_idx + 1: len(minplusdec_str)-1]
    if args.verbose:
        print(f"longitude min dot idx = {lon_min_dot_idx}")
        print(f"longitude min val str = {lon_min_val_str}")
        print(f"longitude min dec val str = {lon_min_dec_val_str}")
    
    
    #if necessary, add leading zero(s) to minutes value
    if len(lon_min_val_str) < 2:
        if len(lon_min_val_str):
            lon_min_val_str = '0'+ lon_min_val_str
    if args.verbose:
        print(f"after 'len < 2' adjustment, longitude min str = {lon_min_val_str}")
        
    
    #if necessary, add trailing zero(s) to minutes decimal value
    if len(lon_min_dec_val_str) < 3:
        if len(lon_min_dec_val_str) < 2:
            lon_min_dec_val_str = lon_min_dec_val_str + '0'
        lon_min_dec_val_str = lon_min_dec_val_str + '0'
    if args.verbose:
       print(f"after 'len < 3' adjustment, longitude min dec str = {lon_min_dec_val_str}")
        
    #now construct SeeYou equivalent
    cuplonstr = lon_deg_val_str + lon_min_val_str + '.' + lon_min_dec_val_str + lon_EorW_str
    if args.verbose:
        print(f"longitude .CUP str = {cuplonstr}")

#Step4: extract the style string from the next line
    if args.verbose:
        print(f"\nExtracting Turnpoint Style: ")    
        
    inlist_idx += 1
    stylestrlist = inlist[inlist_idx].split()
    stylestr = stylestrlist[0]    
    if args.verbose:
        print(f"stylestr = {stylestr}\n")
    
#Step5: concatenate the above, with appropriate ',' entries for blank entries
# name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc
    cupStr = namestr + ", " + codestr + ", ," + cuplatstr + ", " + cuplonstr + ", ," + stylestr + ", , , ,"
    inlist_idx += 1

    return cupStr, inlist_idx
#------------------------------------------------------------------------------------------------------    
#----------------------------------------Main Program------------------------------------------------    
#------------------------------------------------------------------------------------------------------    
infile = askopenfilename(parent=root)
    
print(f"File containing custom Condor task turnpoints = {infile}")

#   Step2: Get 'outfile' filename to write .CUP lines to. Create if necessary. 
#           If aleady existing, ask user if we can overwrite. 'No' causes program to exit
outfilename = asksaveasfilename(parent = root)

print(f"File to which XCSoar-compatible turnpoint lines will be written = {outfilename}")
ofile = open(outfilename,'w')
ofile.write(f"name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc\n")

#   Step3: Read 'infile' lines until finding a line starting with 'TP' or 'Start'
f=open(infile, encoding="utf-8")#"utf-8" encoding param needed so deg symbol displays OK
inlist = f.readlines()
f.close()


TPname = ''

#Print out entire list
if args.verbose:
    print("list contains " + str(len(inlist)) + " items")
    for x in range(len(inlist)):
        instr = inlist[x]
        print(str(x) + ": " + instr)
    
    if args.verbose:
        print("\nStart Processing Lines\n")

# for x in range(len(inlist)):
x = 0        
while x < len(inlist):
    instr = inlist[x]
    
    if args.verbose:
        print(str(x) + ": " + instr)
    
    outstr = '' #03/23/2024 needed to avoid error in verbose print block
    numstr = '' #03/23/2024 needed to avoid error in verbose print block
    if 'Start' in instr:
        TPname = 'NewStart'+ str(x)
        outstr, x = ConstructCUPString(TPname, inlist, x)
        ofile.write(outstr + "\n") #Write .CUP formatted line & write to outfile
    # if args.verbose:
        # print(f"back in main pgm: cupstr = {outstr},  x = {x}")
        
    elif 'TP' in instr:
        #TP number separated by a space
        numstr = instr[2:4]
        TPname = 'NewTP'+ numstr
        outstr, x = ConstructCUPString(TPname, inlist, x)
        ofile.write(outstr + "\n") #Write .CUP formatted line & write to outfile
        
    if args.verbose:
        print(f"numstr = {numstr}")
        print(f"back in main pgm: cupstr = {outstr},  x = {x}")
        
    x = x + 1
        
print(f"all {x} infile lines processed")
        
ofile.close()

#now print out ofile contents
# if args.verbose:
print(f"\nContents of output file {outfilename}")
outfile = open(outfilename, 'r')

for line in outfile:
    print(line)

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# This Python file uses the following encoding: utf-8

import argparse

parser = argparse.ArgumentParser()

parser.add_argument("-v", "--verbose", help="increase output verbosity",

action="store_true")

args = parser.parse_args()

# Purpose: Convert Condor task 'New TP' turnpoints (copy/pasted from Condor task description

# to a text file) to CUP-formatted strings and write them to a user-selected file to be used

# in XCSoar

# CUP file format:

# name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc

#"Cruseilles",Cruseill,,4601.100N,00606.400E,716.0m,1,,,,

#"Marignane",,,4325.998N,00512.846E,4m,5,317,2500,0,

#Condor Task 'New Waypoint' format:

# TP 2 (7,362 ft)

# Heading: 144° for 46.8 NM,

# Coords: 45.23.99N / 6.45.300E

# Classic turnpoint,

# min. height: 0 ft, max.: 32,808 ft

# angle: 360°, radius: 3,281 ft

#Plan:

# Step1: Get text file containing Condor 'newTP' blocks copy/pasted from task description

# Step2: Get 'outfile' filename to write .CUP lines to. Create if necessary.

# If aleady existing, ask user if we can overwrite. 'No' causes program to exit

# Step3: Read lines until finding a line starting with 'TP' or 'Start'

# Step4: Parse 'Coords' line to get coordinate Lat/Lon strings

# Step5: Construct .CUP formatted line & write to outfile

# Step1: Get text file containing Condor 'newTP' blocks copy/pasted from task description

import tkinter as tk

from tkinter.filedialog import askopenfilename, asksaveasfilename

root = tk.Tk() ; root.withdraw()

# PURPOSE: constructs a .CUP-formatted string from the (six?) lines waypoint

# block in the typical Condor-club task briefing.

# For example:

# ----------------------------------------------------------------------

# Start (2,434 ft)

# Heading: 115° for 3.9 NM,

# Coords: 46.31.377N / 6.42.372E

# Classic turnpoint,

# min. height: 0 ft, max.: 6,234 ft

# angle: 180°, radius: 13,123 ft

# ----------------------------------------------------------------------

# The CUP waypoint format is:

# name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc

# but we are only going to fill the name, code, lat, lon and style fields

#Inputs:

# TPName = string containing the name to be used in the .CUP string

# x = integer denoting index into the turnpoint block string list acquired from the input file

#Outputs

# returns a string and the INDEX TO THE NEXT LINE in the list of strings from the input file

#Plan:

# Step1: assign 'TPname' to 'name' and 'code'

# Step2: skip the 'Heading' line

# Step3: extract the lat/lon strings from the 'Coords' line and convert them to .CUP format

# Step4: extract the style string from the next line

# Step5: concatenate the above, with appropriate ',' entries for blank entries

def ConstructCUPString(tpname, inlist, inlist_idx):

if args.verbose:

print(f"In ConstructCUPString(tpname = {tpname}, inlist_idx = {inlist_idx})")

#Step1: assign 'TPname' to 'name' and 'code'

namestr = tpname

codestr = tpname

#Step2: skip the 'Heading' line

inlist_idx += 2

#Step3: extract the lat/lon strings from the 'Coords' line and convert them to .CUP format

# From SeeYou site: Latitude is a field of length 9, where char0-1 are degrees, Char2-3 are minutes, Char4 decimal point,

# char5-7 are decimal minutes and char8 is either N or S. The ellipsoid used is WGS-1984

# Example: SeeYou 5107.830N is equal to 51° 07.830' N print(f"inlist[{inlist_idx}] = {inlist[inlist_idx]}")

coordstrlist = inlist[inlist_idx].split()

if args.verbose:

print(coordstrlist)

print("Constructing Latitude...\n")

#latitude deg

latstr = coordstrlist[1]

if args.verbose:

print(f"latitude string = {latstr}")

lat_deg_dot_idx = latstr.find('.')

lat_deg_val_str = latstr[0:lat_deg_dot_idx]

lat_deg_val = int(lat_deg_val_str)

if args.verbose:

print(f"latitude lat_deg str = {lat_deg_val_str}")

print(f"latitude lat_deg = {lat_deg_val}")

#if necessary, add leading zero(s) to lat_deg value

if len(lat_deg_val_str) < 2:

if len(lat_deg_val_str) < 1:

lat_deg_val_str = '0'+ lat_deg_val_str

if args.verbose:

print(f"after adjustment, latitude deg str = {lat_deg_val_str}")

#latitude min

min_dot_idx = latstr.find('.',lat_deg_dot_idx +1 )

if args.verbose:

print(f"lat_deg_dot_idx = {lat_deg_dot_idx}, min_dot_idx = {min_dot_idx}")

minplusdec_str = latstr[lat_deg_dot_idx +1:] #still has 'N/S' appended

lat_NorS_str = minplusdec_str[len(minplusdec_str)-1]

minplusdec_str = minplusdec_str[0:len(minplusdec_str)]

if args.verbose:

print(f"latitude minplusdec str = {minplusdec_str}")

print(f"latitude NorS str = {lat_NorS_str}")

lat_min_dot_idx = minplusdec_str.find('.')

if args.verbose:

print(f"latitude min dot idx = {lat_min_dot_idx}")

lat_min_val_str = minplusdec_str[0:lat_min_dot_idx]

if args.verbose:

print(f"latitude min val str = {lat_min_val_str}")

lat_min_dec_val_str = minplusdec_str[lat_min_dot_idx + 1: len(minplusdec_str)-1]

if args.verbose:

print(f"latitude min dec val str = {lat_min_dec_val_str}")

lat_min_dec_val = int(lat_min_dec_val_str)

lat_min_val = int(lat_min_val_str)

#if necessary, add leading zero(s) to minutes value

if len(lat_min_val_str) < 2:

if len(lat_min_val_str):

lat_min_val_str = '0'+ lat_min_val_str

if args.verbose:

print(f"after 'len < 2' adjustment, latitude min str = {lat_min_val_str}")

#if necessary, add trailing zero(s) to minutes decimal value

if len(lat_min_dec_val_str) < 3:

if len(lat_min_dec_val_str) < 2:

lat_min_dec_val_str = lat_min_dec_val_str + '0'

if args.verbose:

print(f"after 'len < 2' adjustment, latitude min dec str = {lat_min_dec_val_str}")

print(f"latitude min = {lat_min_val}")

print(f"latitude min str = {lat_min_val_str}")

#now construct SeeYou equivalent

cuplatstr = lat_deg_val_str + lat_min_val_str + '.' + lat_min_dec_val_str + lat_NorS_str

if args.verbose:

print(f"latitude .CUP str = {cuplatstr}")

print("\nConstructing Longitude...\n")

lonstr = coordstrlist[3]

if args.verbose:

print(f"longitude string = {lonstr}")

lon_deg_dot_idx = lonstr.find('.')

lon_deg_val_str = lonstr[0:lon_deg_dot_idx]

lon_deg_val = int(lon_deg_val_str)

if args.verbose:

print(f"longitude lon_deg str = {lon_deg_val_str}")

print(f"longitude lon_deg = {lon_deg_val}")

#if necessary, add leading zero(s) to lon_deg value

if len(lon_deg_val_str) < 3:

if len(lon_deg_val_str) < 2:

lon_deg_val_str = '0'+ lon_deg_val_str

if args.verbose:

print(f"after 'len < 3' adjustment, longitude deg str = {lon_deg_val_str}")

#longitude min

min_dot_idx = lonstr.find('.',lon_deg_dot_idx +1 )

if args.verbose:

print(f"lon_deg_dot_idx = {lon_deg_dot_idx}, min_dot_idx = {min_dot_idx}")

minplusdec_str = lonstr[lon_deg_dot_idx +1:] #still has 'E/W' appended

lon_EorW_str = minplusdec_str[len(minplusdec_str)-1]

minplusdec_str = minplusdec_str[0:len(minplusdec_str)]

if args.verbose:

print(f"longitude minplusdec str = {minplusdec_str}")

print(f"longitude EorW str = {lon_EorW_str}")

lon_min_dot_idx = minplusdec_str.find('.')

lon_min_val_str = minplusdec_str[0:lon_min_dot_idx]

lon_min_dec_val_str = minplusdec_str[lon_min_dot_idx + 1: len(minplusdec_str)-1]

if args.verbose:

print(f"longitude min dot idx = {lon_min_dot_idx}")

print(f"longitude min val str = {lon_min_val_str}")

print(f"longitude min dec val str = {lon_min_dec_val_str}")

#if necessary, add leading zero(s) to minutes value

if len(lon_min_val_str) < 2:

if len(lon_min_val_str):

lon_min_val_str = '0'+ lon_min_val_str

if args.verbose:

print(f"after 'len < 2' adjustment, longitude min str = {lon_min_val_str}")

#if necessary, add trailing zero(s) to minutes decimal value

if len(lon_min_dec_val_str) < 3:

if len(lon_min_dec_val_str) < 2:

lon_min_dec_val_str = lon_min_dec_val_str + '0'

if args.verbose:

print(f"after 'len < 3' adjustment, longitude min dec str = {lon_min_dec_val_str}")

#now construct SeeYou equivalent

cuplonstr = lon_deg_val_str + lon_min_val_str + '.' + lon_min_dec_val_str + lon_EorW_str

if args.verbose:

print(f"longitude .CUP str = {cuplonstr}")

#Step4: extract the style string from the next line

if args.verbose:

print(f"\nExtracting Turnpoint Style: ")

inlist_idx += 1

stylestrlist = inlist[inlist_idx].split()

stylestr = stylestrlist[0]

if args.verbose:

print(f"stylestr = {stylestr}\n")

#Step5: concatenate the above, with appropriate ',' entries for blank entries

# name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc

cupStr = namestr + ", " + codestr + ", ," + cuplatstr + ", " + cuplonstr + ", ," + stylestr + ", , , ,"

inlist_idx += 1

return cupStr, inlist_idx

#------------------------------------------------------------------------------------------------------

#----------------------------------------Main Program------------------------------------------------

#------------------------------------------------------------------------------------------------------

infile = askopenfilename(parent=root)

print(f"File containing custom Condor task turnpoints = {infile}")

# Step2: Get 'outfile' filename to write .CUP lines to. Create if necessary.

# If aleady existing, ask user if we can overwrite. 'No' causes program to exit

outfilename = asksaveasfilename(parent = root)

print(f"File to which XCSoar-compatible turnpoint lines will be written = {outfilename}")

ofile = open(outfilename,'w')

ofile.write(f"name,code,country,lat,lon,elev,style,rwdir,rwlen,freq,desc\n")

# Step3: Read 'infile' lines until finding a line starting with 'TP' or 'Start'

f=open(infile, encoding="utf-8")#"utf-8" encoding param needed so deg symbol displays OK

inlist = f.readlines()

f.close()

TPname = ''

#Print out entire list

if args.verbose:

print("list contains " + str(len(inlist)) + " items")

for x in range(len(inlist)):

instr = inlist[x]

print(str(x) + ": " + instr)

if args.verbose:

print("\nStart Processing Lines\n")

# for x in range(len(inlist)):

x = 0

while x < len(inlist):

instr = inlist[x]

if args.verbose:

print(str(x) + ": " + instr)

outstr = '' #03/23/2024 needed to avoid error in verbose print block

numstr = '' #03/23/2024 needed to avoid error in verbose print block

if 'Start' in instr:

TPname = 'NewStart'+ str(x)

outstr, x = ConstructCUPString(TPname, inlist, x)

ofile.write(outstr + "\n") #Write .CUP formatted line & write to outfile

# if args.verbose:

# print(f"back in main pgm: cupstr = {outstr}, x = {x}")

elif 'TP' in instr:

#TP number separated by a space

numstr = instr[2:4]

TPname = 'NewTP'+ numstr

outstr, x = ConstructCUPString(TPname, inlist, x)

ofile.write(outstr + "\n") #Write .CUP formatted line & write to outfile

if args.verbose:

print(f"numstr = {numstr}")

print(f"back in main pgm: cupstr = {outstr}, x = {x}")

x = x + 1

print(f"all {x} infile lines processed")

ofile.close()

#now print out ofile contents

# if args.verbose:

print(f"\nContents of output file {outfilename}")

outfile = open(outfilename, 'r')

for line in outfile:

print(line)

Enjoy!

Frank

Bridgemate II Keypad Membrane Replacement

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Posted 22 February 2024

COBA, the Central Ohio Bridge Association, owns a number of Bridgemate II table pads, and lately we have been hearing a number of complaints about having to press buttons harder than normal to get the expected response. After some research, one of our members discovered that we could purchase replacement membranes from Bridgemate for $15 each, so we decided to undertake a membrane replacement program.

Opening up a Bridgemate II

The keyboard cover/upper-half can be removed by disengaging a number of flexible plastic tabs, as shown in the following page from the Bridgemate site:

While this wasn’t quite as trivial as the above description, it wasn’t really all that hard. Most of the difficulty was in trying NOT to break things during the opening process on the first unit. Once that was accomplished (thankfully without breaking anything), I’m sure the rest will go much easier. Here are some photos showing the disassembled Bridgemate II

Visual inspection of this first unit showed everything to be very clean – basically indistinguishable from a brand-new unit. In particular, the key membrane seemed to completely intact, and could be easily manipulated between the ‘pressed’ and the ‘unpressed’ states with just fingertip pressure.

Stay tuned,

Frank

Using VS Code to Debug Linux Makefile Projects

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Posted 20 February 2024,

I recently got re-interesting in soaring (glider racing) after a number of years away. As part of this new journey, I became interested in contributing to the development of the XCSoar glider racing navigation software. I had contributed to this program some years ago in a very minor way, and thought maybe now that I’m retired and have plenty of time to waste (NOT!!), I could maybe contribute in a more meaningful way.

In any case, XCSoar development is done in Linux (Specifically in Debian Linux, but that’s another story), so I started thinking about creating a development environment on a Debian Linux box. I had an old Dell Precision M6700 ‘desktop replacement’ laptop that I hadn’t turned on for years, so I dug it out, installed Linux (Ubuntu first, then Debian), and with the help of Ronald Niederhagen (see this post), I was able to clone the XCSoar repo from Github and built both the Linux and Android versions.

However, I still needed to find a way to ‘break into’ the code, and to do that I was going to need a way of running the program under debug control. I have done this sort of thing for decades on the Windows world, but not so much in Linux, so I was sort of starting from scratch. After a LOT of research, I found that Microsoft had a free Linux IDE called VS Code – sort of a lightweight version of Visual Studio aimed at the Linux and IOS world.

So, I installed VS Code on my Linux box and started the ‘lets learn yet another coding IDE’ dance, again starting with a lot of Google searches, running tutorials, etc etc. After creating some basic ‘hello world’ programs using VS code, I started thinking about how to use VS Code on the XCSoar project, comprised of thousands of source files and a Makefile almost three hundred lines long. I knew just enough about Makefiles to type ‘make’ or ‘make all’, so there was a steep learning curve ahead to use VSCode for debugging.

After yet another round of Google searches and forum posts, I found a relevant tutorial on the ‘HackerNoon’ website. the HackerNoon tutorial seems to be aimed at Windows users (Linux doesn’t use extensions to denote executable files), but I was able to work my way through and translate as appropriate. I suggest you open the HackerNoon tutorial in one window, and this ‘translation’ in another.

Original:

I will be using the following tools:

VSCode

Git Bash (using MinGW-w64)

g++ (part of the GNU Compiler Collection (GCC))

GNU Make

I will be using the following tools:

VSCode

Git Bash (using MinGW-w64)

g++ (part of the GNU Compiler Collection (GCC))

GNU Make

Translation for Linux:

I will be using the following tools:

VSCode

Bash 

g++ (part of the GNU Compiler Collection (GCC))

Make

I will be using the following tools:

VSCode

Bash

g++ (part of the GNU Compiler Collection (GCC))

Make

Download & Install VS Code: See this link. Everything else should already be available as part of any modern Linux distro (I’m using Debian 12 – ‘bookworm’).

main.cpp: (same as original – no translation required)

#include <iostream>
#include <vector>
#include <string>

int main() {
    std::vector<std::string> testStrings {"this", "is", "just", "a", "test"};

    for(auto testString : testStrings) {
        std::cout << testString << std::endl;
    }
}

#include <iostream>

#include <vector>

#include <string>

int main() {

std::vector<std::string> testStrings {"this", "is", "just", "a", "test"};

for(auto testString : testStrings) {

std::cout << testString << std::endl;

}

Makefile (Original):

CC="/c/MinGW/bin/g++.exe"

main.exe: main.cpp
	${CC} -g main.cpp

CC="/c/MinGW/bin/g++.exe"

main.exe: main.cpp

${CC} -g main.cpp

Makefile (Translation for Linux):

OUT_FILE = "mymain"

main: mymain.cpp
	g++ -g -o $(OUT_FILE) mymain.cpp

OUT_FILE = "mymain"

main: mymain.cpp

g++ -g -o $(OUT_FILE) mymain.cpp

Run the ‘main.exe’ make target, then run the executable to make sure everything works (Original):

$ /c/MinGW/bin/mingw32-make.exe main.exe
$ ./main.exe

1 2	$ /c/MinGW/bin/mingw32-make.exe main.exe $ ./main.exe

Translation for Linux:

I placed ‘mymain.cpp’ and ‘Makefile’ in my home directory tree as shown below:

frank@M6700:~/projects$ ls /home/frank/projects/Hacknoon/
Makefile  mymain.cpp
frank@M6700:~/projects$

frank@M6700:~/projects$ ls /home/frank/projects/Hacknoon/

Makefile mymain.cpp

frank@M6700:~/projects$

so to test the Makefile and the executable, I did the following:

frank@M6700:~/projects$ cd /home/frank/projects/Hacknoon/
frank@M6700:~/projects/Hacknoon$ make
g++ -g -o "mymain" mymain.cpp
frank@M6700:~/projects/Hacknoon$ ./mymain
this
is
just
a
test
frank@M6700:~/projects/Hacknoon$

frank@M6700:~/projects$ cd /home/frank/projects/Hacknoon/

frank@M6700:~/projects/Hacknoon$ make

g++ -g -o "mymain" mymain.cpp

frank@M6700:~/projects/Hacknoon$ ./mymain

this

just

test

frank@M6700:~/projects/Hacknoon$

This test confirms that the source code compiles correctly, that the Makefile is correct, and the output from the compiled program is as expected – yay!

Setting up VSCode debugger:

At this point the HackerNoon tutorial and my experience parted ways. I could get the ‘Run and Debug’ side panel open, and I could open ‘mymain.cpp’ in the VSCode editor window, but I couldn’t find anything that suggested it could “create a launch.json file”. I tried to send a comment to the author, but comments weren’t enabled for some reason (and yes, I did register and log in). I suspect that the disparity between the HackerNoon example and my VSCode reality is due to changes in VSCode after the HackerNoon tutorial was created. Which is why I absolutely hate posts like this that aren’t dated in any way shape or form. Because of this, it is impossible to determine if changes like I encountered are due to mistakes on the part of the author, or just changes in the underlying software being demonstrated.

So, I was left to randomly click on things until, by some miracle, the ‘launch.json’ file was created and appeared in the VSCode edit window. Later I went back and tried to re-create the miracle and I sort of figured it out; with the ‘mymain.cpp’ file open in the editor, click on the ‘gear’ icon (upper right as shown in the screenshot below):

And select ‘(gdb) Launch’ from the menu items presented. This will create a ‘launch.json’ file and open it in the editor, as shown below:

At this point we can reconnect to the ‘HackerNoon’ tutorial and copy/paste the launch.json contents from the tutorial to the newly-created launch.json file in VSCode, as shown below

launch.json after copy/pasting example code from HackerNoon site

Here’s the ‘launch.json’ file from HackerNoon:

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/main.exe",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "C:\\MinGW\\bin\\gdb.exe",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "Set Disassembly Flavor to Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "run the makefile"
        }
    ]
}

{

"version": "0.2.0",

"configurations": [

{

"name": "(gdb) Launch",

"type": "cppdbg",

"request": "launch",

"program": "${workspaceFolder}/main.exe",

"args": [],

"stopAtEntry": false,

"cwd": "${fileDirname}",

"environment": [],

"externalConsole": false,

"MIMode": "gdb",

"miDebuggerPath": "C:\\MinGW\\bin\\gdb.exe",

"setupCommands": [

{

"description": "Enable pretty-printing for gdb",

"text": "-enable-pretty-printing",

"ignoreFailures": true

{

"description": "Set Disassembly Flavor to Intel",

"text": "-gdb-set disassembly-flavor intel",

"ignoreFailures": true

}

"preLaunchTask": "run the makefile"

}

]

}

And here’s the same file, after translating it for Linux instead of Windows:

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/mymain",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "./gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "Set Disassembly Flavor to Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "run the makefile"
        }
    ]
}

{

"version": "0.2.0",

"configurations": [

{

"name": "(gdb) Launch",

"type": "cppdbg",

"request": "launch",

"program": "${workspaceFolder}/mymain",

"args": [],

"stopAtEntry": false,

"cwd": "${fileDirname}",

"environment": [],

"externalConsole": false,

"MIMode": "gdb",

"miDebuggerPath": "./gdb",

"setupCommands": [

{

"description": "Enable pretty-printing for gdb",

"text": "-enable-pretty-printing",

"ignoreFailures": true

{

"description": "Set Disassembly Flavor to Intel",

"text": "-gdb-set disassembly-flavor intel",

"ignoreFailures": true

}

"preLaunchTask": "run the makefile"

}

]

}

The next step is to create a ‘tasks.json’ file using the ‘New File’ (ALT-Ctrl-N) in VSCode. This brings up a dialog forcing the user to specify the folder into which the new file will be placed, which seemed a bit strange for me, but what do I know. Put the new file in the same (hidden) .vscode folder as the companion ‘launch.json’. In my setup this was layed out as shown below:

frank@M6700:~/projects/Hacknoon$ ls -alFR
.:
total 152
drwxr-xr-x 3 frank frank   4096 Feb 21 11:33 ./
drwxr-xr-x 7 frank frank   4096 Feb 21 12:19 ../
-rw-r--r-- 1 frank frank    116 Feb 20 18:44 Makefile
-rwxr-xr-x 1 frank frank 134680 Feb 21 11:33 mymain*
-rw-r--r-- 1 frank frank    243 Feb 19 11:19 mymain.cpp
drwxr-xr-x 2 frank frank   4096 Feb 19 19:43 .vscode/

./.vscode:
total 16
drwxr-xr-x 2 frank frank 4096 Feb 19 19:43 ./
drwxr-xr-x 3 frank frank 4096 Feb 21 11:33 ../
-rw-r--r-- 1 frank frank  970 Feb 21 16:37 launch.json
-rw-r--r-- 1 frank frank  383 Feb 20 19:16 tasks.json

frank@M6700:~/projects/Hacknoon$ ls -alFR

total 152

drwxr-xr-x 3 frank frank 4096 Feb 21 11:33 ./

drwxr-xr-x 7 frank frank 4096 Feb 21 12:19 ../

-rw-r--r-- 1 frank frank 116 Feb 20 18:44 Makefile

-rwxr-xr-x 1 frank frank 134680 Feb 21 11:33 mymain*

-rw-r--r-- 1 frank frank 243 Feb 19 11:19 mymain.cpp

drwxr-xr-x 2 frank frank 4096 Feb 19 19:43 .vscode/

./.vscode:

total 16

drwxr-xr-x 2 frank frank 4096 Feb 19 19:43 ./

drwxr-xr-x 3 frank frank 4096 Feb 21 11:33 ../

-rw-r--r-- 1 frank frank 970 Feb 21 16:37 launch.json

-rw-r--r-- 1 frank frank 383 Feb 20 19:16 tasks.json

Here’s the original ‘tasks.json’:

{
    "tasks": [
        {
            "type": "shell",
            "label": "run the makefile",
            "command": "/c/MinGW/bin/mingw32-make.exe",
            "args": ["main.exe"],
            "problemMatcher": [],
        }
    ],
    "version": "2.0.0"
}

{

"tasks": [

{

"type": "shell",

"label": "run the makefile",

"command": "/c/MinGW/bin/mingw32-make.exe",

"args": ["main.exe"],

"problemMatcher": [],

}

"version": "2.0.0"

}

And here’s the same file after translation for Linux:

{
    "tasks": [
        {
            "type": "shell",
            "label": "run the makefile",
            "command": "make",
            "args": ["mymain"],
            "problemMatcher": [],
        }
    ],
    "version": "2.0.0"
}

{

"tasks": [

{

"type": "shell",

"label": "run the makefile",

"command": "make",

"args": ["mymain"],

"problemMatcher": [],

}

"version": "2.0.0"

}

The above three files (mymain.cpp, launch.json and tasks.json) form a complete set (a ‘configuration?) that enables VSCode to compile and then run – under debug control – a .cpp file. Here’s a short video showing two complete compile/run cycles:

Video showing VSCode compiling/running/debugging using a Linux Makefile

At this point is is clear that the combination of VSCode, in conjunction with appropriately constructed ‘Makefile’, ‘launch.json’ and ‘tasks.json’ files is capable of debugging a Linux-base C++ program. This means that – at least in theory – I should be able to aim VSCode at the humungous Makefile associated with the equally humungous XCSoar program and step through the source code under debug control – yeeehah!

23 February 2024 Update:

Well, the theory (about being able to run XCSoar under debug control) has now been validated. I was able to run XCSoar using the following launch & tasks.json file contents

Launch.json:

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/output/UNIX/bin/xcsoar",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "Set Disassembly Flavor to Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "run the makefile"
        }
    ]
}

{

"version": "0.2.0",

"configurations": [

{

"name": "(gdb) Launch",

"type": "cppdbg",

"request": "launch",

"program": "${workspaceFolder}/output/UNIX/bin/xcsoar",

"args": [],

"stopAtEntry": false,

"cwd": "${fileDirname}",

"environment": [],

"externalConsole": false,

"MIMode": "gdb",

"miDebuggerPath": "gdb",

"setupCommands": [

{

"description": "Enable pretty-printing for gdb",

"text": "-enable-pretty-printing",

"ignoreFailures": true

{

"description": "Set Disassembly Flavor to Intel",

"text": "-gdb-set disassembly-flavor intel",

"ignoreFailures": true

}

"preLaunchTask": "run the makefile"

}

]

}

Tasks.json:

{
    "tasks": [
       {
            "type": "shell",
            "label": "run the makefile",
            "command": "make",
            "args": [],
            "problemMatcher": [],
        },
    ],
    "version": "2.0.0"
}

{

"tasks": [

{

"type": "shell",

"label": "run the makefile",

"command": "make",

"args": [],

"problemMatcher": [],

"version": "2.0.0"

}

And here is a short video showing the action:

So now I’m set; I can run XCSoar under debug control, and I should be able to poke around and hopefully make some changes (or at least understand some of the magic tricks). On thing I’ve already found is that (depending on where the breakpoints are) XCSoar can grab the mouse focus (not the keyboad, thankfully), so even though the mouse cursor can move around the screen outside the XCSoar window, all mouse clicks go to XCSoar. Fortunately I found that keyboard inputs still go to VSCode, so I can still (with some difficulty) get around OK.

Trying my Hand at XCSoar Program Development

1 Reply

Long ago and far away, back when I was doing a lot of real-life soaring, I was heavily involved in the development of the ClearNav flight computer/navigator and I’d like to think I made it better than when I first started working with it. Among other things, I helped develop the thermalling assistant in ClearNav, and also helped port that functionality to XCSoar.

Now, many years late, I am no longer doing real-life soaring, but I’m once again starting to fly in virtual soaring races using the Condor2 soaring simulator. As a part of that, I have been attempting to use the XCSoar flight computer/navigation assistant as an external adjunct to the in-sim Condor flight computer. In particular, Condor2’s flight computer has no capability to support AAT/TAT tasks, so using an external PNA (Personal Navigation Assistant) that does support AAT/TAT tasks makes sense. To facilitate this effort, Condor2 can output GPS NMEA sentences to an external device.

I have nice dual-24″ monitor setup at home, so my initial thought was to run Condor2 on one monitor, and the PC version of XC on the other. This actually works, but with a big ‘gotcha’ – when Condor is running, it captures the mouse and keyboard input, and won’t let it go unless you use ‘ALT-TAB’ to switch to another running program. This means that if you wish make an adjustment in XCSoar, you have to ALT-TAB out of Condor2 and into XCSoar, make whatever adjustments, and then ALT-TAB back to Condor2 – more than a little bit messy. In addition, while ‘away’ from Condor2, it is continuing to fly along without pilot input – maybe OK for a flatland task, but definitely bad for one’s (simulated) health in gnarly terrain.

So, my next idea was to buy a cheap Android device and run XCSoar on it, connected to Condor2 on my PC via Bluetooth. I found a really nice PRITOM M10 10 inch tablet with 2 GB RAM, 32 GB internal storage on Amazon for about $50USD, and figured out how to get NMEA data to it using Bluetooth – nice!

Then I constructed a small AAT/TAT task in Condor2’s default Slovenia scenery, loaded the same task into the M10, and flew it multiple times to see if I could figure out how to best use XCSoar to optimize navigation through both defined areas. This worked really well, but I ran into some problems with the XCSoar software. At least in the Android version, the ‘AAT Time’ and ‘AAT Delta Time’ readouts blanked out several times during the tests, rendering XCSoar pretty much useless for AAT/TAT tasks (see this post for all the gory details).

The above experience led me to think about looking through the source code to see if I could find out why these AAT-related values were going missing. Way back in the day I had done this once before when I ported the ClearNav thermalling assistant algorithm to XCSoar, but that time I didn’t know enough about Github repos and pull requests to do it the right way – I had to throw myself on the mercy of the other developers to make it happen. Since I’m now retired and not flying in real-life anymore, I have a bit more time, so I decided to give it a go.

I started by reading though the XCS Developer Manual, where I found that the primary development platform for XCSoar is Linux, and I haven’t played in Linux-land since my days as IT manager at The Ohio State University ElectroScience Lab a couple of decades ago. Nevertheless, I had an old Dell Precision M6700 15″ ‘desktop replacement’ laptop hanging around doing nothing, so I dug it out and installed Ubuntu 12.4 LTS on it. I chose Ubuntu because it was reportedly easier to use by beginners, and known to install OK on my laptop model. Installation was pretty easy, and using the information in the developer’s manual I was able to clone the Github repo, install the required packages, and actually get the default UNIX version of XCSoar compiled and running on my Ubuntu laptop – yay!

With XCSoar running on my laptop, I decided to try running the same AAT/TAT test task with Condor2 GPS NMEA sentences connected to XCSoar on my Linux laptop using VSPE on my windows box to connect Condor2 to a TCP port, and ‘socat’ on the Linux box to create a bridge between TCP and UDP ports. Then in XCSoar I set ‘Device A’ to point to the UDP port created by socat. Amazingly, this all worked! (See this post for the details). With this setup I ran the test AAT, but the ‘AAT Time’ and ‘AAT Delta Time’ values stayed rock-solid through the entire task – yikes!

This result led me to believe that maybe I could just abandon the Android M10 and just use XCSoar on my Linux box to fly AAT tasks. However, when I actually tried this on a Condor2 race, the Linux box version of XCSoar kept dropping GPS inputs – don’t know why.

So, I decided to see if I could compile XCSoar for Android on the Linux box and ‘side-load’ it onto my M10 Android tablet. If this worked, then I could instrument the code on my Linux box, run it on my M10, and maybe figure out why the AAT Time/AAT Delta Time data was getting corrupted. After all, how hard could it be – I had already cloned the source repo and gotten the UNIX target to compile properly? As it turned out – “Pretty Darned Hard!”

I was stumbling around on the XCSoar developer’s forum, trying to figure out why compiling for Android wasn’t working, when Ronald Niederhagen took pity on me and sent me a direct email with some suggestions. The foremost of those was, ‘Install Debian’ and your life will be easier’. Although I had noticed some references to Debian on some of the development steps, I hadn’t paid much attention to it – after all, all Linux installation are all the same, right? Wrong.

So, I went off into a side project for replacing Ubuntu with Debian on my Dell laptop. Once I got that part accomplished, Ronald sent me the following instructions:

mkdir 7.42_tst
cd 7.42_tst
sudo apt-get install git
git clone --recursive https://github.com/XCSoar/XCSoar
sudo ./XCSoar/ide/provisioning/install-debian-packages.sh
sudo apt-get install vorbis-tools

cd XCSoar
make -j4
./XCSoar/output/UNIX/bin/xcsoar

./XCSoar/ide/provisioning/install-android-tools.sh
make -j4 TARGET=ANDROID
ls -l XCSoar/output/ANDROID/bin/*apk

mkdir 7.42_tst

cd 7.42_tst

sudo apt-get install git

git clone --recursive https://github.com/XCSoar/XCSoar

sudo ./XCSoar/ide/provisioning/install-debian-packages.sh

sudo apt-get install vorbis-tools

cd XCSoar

make -j4

./XCSoar/output/UNIX/bin/xcsoar

./XCSoar/ide/provisioning/install-android-tools.sh

make -j4 TARGET=ANDROID

ls -l XCSoar/output/ANDROID/bin/*apk

The first ‘make’ command above ran successfully, and I was able to launch XCSoar on my Linux Debian laptop with no problem. However, the second ‘make’ command to compile XCSoar for Android failed miserably – ouch!

When I reported this result to Ronald, his reply was:

You are not far from success.

You don't seem to have java which this script seems to need. I guess this will do it:
sudo apt-get install default-jre

Then see if java is there:
which java

make a directory:
mkdir $HOME/opt
This is were it installs sdk and ndk if JAVA_HOME is not set.

Then run
./XCSoar/ide/provisioning/install-android-tools.sh
After that see the result:
ls -l $HOME/opt

If you see sdk and ndk there then go ahead with
make -j4 TARGET=ANDROID

You are not far from success.

You don't seem to have java which this script seems to need. I guess this will do it:

sudo apt-get install default-jre

Then see if java is there:

which java

make a directory:

mkdir $HOME/opt

This is were it installs sdk and ndk if JAVA_HOME is not set.

Then run

./XCSoar/ide/provisioning/install-android-tools.sh

After that see the result:

ls -l $HOME/opt

If you see sdk and ndk there then go ahead with

make -j4 TARGET=ANDROID

Ronald’s first sentence — “You are not far from success” was pretty heart-warming. I have done a LOT of programming over a half-century of engineering, and I was well aware how easily projects of this nature can spiral out of control, so ‘hearing’ such encouragement from such an obviously competent source was a life-saver.

Anyway, I ran the command to install the Java jre, confirmed success with the ‘which command, and then re-ran the ‘install-android-tools.sh’ script. This time it completed OK, so then I ran the ‘make -j4 TARGET=ANDROID command. This time it seemed to complete OK, but no corresponding *apk file was generated.

When I reported this to Ronald, he asked me to re-run the compile, but this time redirect both the normal (i.e. stdout) and the error (i.e. stderr) outputs to files and send them to him. OK, so I resurrected (with the help of Google) my 20-year old memories of how to redirect to files in Linux, got the job done, and sent them off to Ronald. In no time at all, Ronald sent back the following:

stderr says it can't find javac.

Please try
which javac

Here is what mine says:
ronald@debian-rn2:~$ which javac
/usr/bin/javac
ronald@debian-rn2:~$ ls -l /usr/bin/javac
lrwxrwxrwx 1 root root 23 Nov  1 00:39 /usr/bin/javac -> /etc/alternatives/javac
ronald@debian-rn2:~$ ls -l /etc/alternatives/javac
lrwxrwxrwx 1 root root 44 Nov  1 00:39 /etc/alternatives/javac -> /usr/lib/jvm/java-17-openjdk-amd64/bin/javac
ronald@debian-rn2:~$ ls -l /usr/lib/jvm/java-17-openjdk-amd64/bin/javac
-rwxr-xr-x 1 root root 14440 Nov  1 00:39 /usr/lib/jvm/java-17-openjdk-amd64/bin/javac
ronald@debian-rn2:~$

stderr says it can't find javac.

Please try

which javac

Here is what mine says:

ronald@debian-rn2:~$ which javac

/usr/bin/javac

ronald@debian-rn2:~$ ls -l /usr/bin/javac

lrwxrwxrwx 1 root root 23 Nov 1 00:39 /usr/bin/javac -> /etc/alternatives/javac

ronald@debian-rn2:~$ ls -l /etc/alternatives/javac

lrwxrwxrwx 1 root root 44 Nov 1 00:39 /etc/alternatives/javac -> /usr/lib/jvm/java-17-openjdk-amd64/bin/javac

ronald@debian-rn2:~$ ls -l /usr/lib/jvm/java-17-openjdk-amd64/bin/javac

-rwxr-xr-x 1 root root 14440 Nov 1 00:39 /usr/lib/jvm/java-17-openjdk-amd64/bin/javac

ronald@debian-rn2:~$

I had no idea what ‘javac’ was (other than a suspicion it was java-related). When I ran the ‘which’ command on my box it came up blank, so obviously Ronald was on the right track. After a couple more back-and-forths, Ronald said:

try "sudo apt-get install default-jre"

1	try "sudo apt-get install default-jre"

I ran the install, and FINALLY I was able to get the XCSoar Android version installed:

Ronald,

Success!! 

frank@M6700:~/7.42_tst/XCSoar$ make -j4 TARGET=ANDROID >240128-stdout2 2>240128-stderr2
frank@M6700:~/7.42_tst/XCSoar$ find -type f -name *apk
./output/ANDROID/dbg/build/unsigned.apk
./output/ANDROID/dbg/build/aligned.apk
./output/ANDROID/bin/XCSoar-debug.apk
./output/ANDROID/android/resources.apk

Stdout & stderr files attached:

Now working on getting APK into my Android tablet!

Ronald,

Success!!

frank@M6700:~/7.42_tst/XCSoar$ make -j4 TARGET=ANDROID >240128-stdout2 2>240128-stderr2

frank@M6700:~/7.42_tst/XCSoar$ find -type f -name *apk

./output/ANDROID/dbg/build/unsigned.apk

./output/ANDROID/dbg/build/aligned.apk

./output/ANDROID/bin/XCSoar-debug.apk

./output/ANDROID/android/resources.apk

Stdout & stderr files attached:

Now working on getting APK into my Android tablet!

With more help from Google, I was finally able to get XCSoar ‘side-loaded’ to the M10. As it turned out, the trick was to copy the *.apk file to my Google Drive site, and then use ‘Drive’ on the M10 to ‘install’ the app. Basically the process is:

Copy the *.apk file from my Linux laptop to my Google Drive site
Uninstall XCSoar from the M10 by dragging the icon to the trashcan
Use ‘Files->Drive’ to access my Google Drive account from the M10
Double-click on the *.apk file in Google Drive
Select ‘install’ on the resulting dialog.

Here is a short video showing the process:

Installing a fresh Android version of XCSoar on my Android M10 tablet

So now, Thanks to Ronald Niederhagen, I’m all set for XCSoar development. In the meantime, however, the original reason I wanted to get into XCSoar development (disappearing AAT infobox data) seems to have — disappeared. Not to worry though, as I have lately gotten some other ideas for XCSoar ‘improvements’ 😉

A last thought on this subject from a septuagenarian engineer/programmer, I appreciate how much time and effort Ronald put into helping a noob along. Ronald didn’t know me from Adam, and yet he took the time to help. He didn’t know that I’m a 75-year old broke-down engineer, ex-pilot, (ex – everything, for that matter!), and I don’t know anything about him, either. Heck, Ronald could be a 12-year old kid with acne programming in his parents’ basement wearing pajamas, but in this case he was clearly the teacher and I was clearly the student. It’s pretty cool when the internet and free discourse facilitate this kind of international (and maybe intergenerational) collaboration.

Stay Tuned,

Frank

XCSoar Soaring Computer AAT Task Study, Part II

2 Replies

Posted 14 January 2024

This is the second installment in my study of the XCSoar cross-country race navigation software with respect to its use in AAT/TAT tasks in Condor2. In my last post, I created a small AAT task in Condor and flew it with XCSoar on a Android M10 tablet, connected to my Condor PC via bluetooth. In this installment, I fly the same task, but this time I video’d the entire task and then afterwards picked out screenshots to highlight points of interest during the task.

This next shot illustrates a problem I had right at the start. I used my finger to swipe down (hoping to zoom in or out), but instead it froze the XCSoar app. Had to reboot the M10 tablet and go through some other gyrations to get going again. I sure would hate to have this happen just before task opening on a AAT race in Condor.

XCSoar crashed after the ‘swipe down’ gesture

After getting XCSoar back up and reconnected to Condor, I got going with the task again. Here’s a screenshot showing the situation just before exiting the start cylinder

Just before task start. All the data values look OK

Now just after the start

Just after exiting the start cylinder, with the ‘Task Start’ popup visible

Comments:

The ‘AAT Time’ value has decreased by 4 sec, which seems OK
‘AAT delta time’ seems a bit odd, as it shows I’m going to arrive early by about 1 minute
The AAT Dmax/Dmin and AAT Vmax/Vmin values look consistent. IOW, to consume 45 min covering the min distance of 24.9mi, I need an average speed of 29.9mph (24.9mi / 29.9mph = 0.833hr –> 50min), and for the max dist of 92.9mi I need 111mph (92.9mi/111mph = 0.833hr — 50min). This gives me fair bit of confidence that I have the necessary data to optimize the task.

Just before entering the first turn circle

Comments:

All the numbers still look reasonable here. The ‘AAT Time’ has gone down by about 3.5min, and the arrival is still shown as 1:09min (according the documentation, BLUE indicates arrival will be over by at least 5 minutes).

Now, just after entering the first turn circle,

Comments:

It was nice to see the ‘In sector, arm advance when ready’ popup show, but I wasn’t entirely sure what it meant.
It was also very nice to see that the ‘target’ started following the glider symbol, meaning that I didn’t have to move it manually – yay!
I noted that the ‘AAT Dmin’ value changed from 24.9 to 27.4mi, so that sounds right.

Next, I brought up the Task Status page (after a LOT of fumbling), and got this:

Comments:

I was amazed by how little information on this page was useful. The only values that I found believable were the ‘Assigned Task Time’, the ‘Speed Average’, and ‘Achieved speed’ values.
The ‘Estimated task’ value of 2:47 and the ‘Remaining time’ value of 2:40 makes no sense. Where did they come from?

At about the halfway point something happened (or I did something stupid – AGAIN) and my ‘AAT time and ‘AAT delta time’ values – the very most critical information required for successfully completing an AAT – disappeared, only to return again when I made the the turn toward JAVORJEV. At the time I didn’t notice until well after the fact, so having the entire flight on video really paid dividends – yay! Here’s a short (~ 35 sec) video showing the point at which they disappeared.

watch as the ‘AAT Time’ and ‘AAT delta time’ values disappear, starting at about 22sec

Comments:

The two values that disappeared are the whole reason for using an external navigation device to fly AATs in Condor. After they disappeared, I was basically winging it from then on.
It is possible that the data disappearance is related in some way to the buttons I was pressing around the same time. The first screen tap happens at 13.35sec into the video clip and the ‘AAT delta time’ value starts going GAGA about 10sec later.

In the next screenshot I’m about 3/4 of the way through the first turn, and thinking about turning around. Since I lost my ‘AAT Time’ & ‘AAT delta time’ readouts I’m flying blind on timing:

Comments:

The only information I have to work with are the Dmin/max and Vmin/max values, and some notion of my average speed. I think it’s around 80-90mph, and as long as it is less than 111mph I’m OK to turn at this point.

The next shot shows the ‘Show Target’ page for this turnpoint

Comments:

This page shows a value for ‘V ach’ of 70.8mph, which is almost identical to the value shown for ‘AAT Vmin. Assuming I believe this number, and assuming that value will continue to increase because I’ll be ridge running the rest of the task, I should be OK turning here.
I have no idea what the ‘ETE’ and ‘Delta T’ values mean on this page – they don’t look consistent with the ‘AAT Vmin/max’ and ‘AAT Dmin/max numbers on the main navigation page. I don’t think there’s any way I can make it back 26 minutes and 39 seconds early, even if my glider suddenly acquire orbital velocity.

The next shot shows the same page, but for the JAVORJEV turn circle, just as I’m getting ready to turn in the KURJIV circle

Comments:

Apparently, moving the target position in the KURJIV circle also moves the corresponding one in the JAVORJEV circle – I didn’t expect that. I wonder what happens in a 3, 4, or 5 turn circle AAT – do ALL the targets move in unison?
What does the ‘Optimized’ checkbox do?

The next shot shows the situation just as I made the turn for JAVORJEV. Again I didn’t notice this at the time, but my ‘AAT Time’ and ‘AAT delta time’ datablocks returned from the dead. Here’s a short (20sec) video showing the action. Just from the video, it looks like tapping on the ‘Arm turn’ button also resurrected the AAT info boxes.

However, my joy over getting my AAT datablocks back was short-lived. A short time after making the turn, the datablock info disappeared again – for good. This time there were no button pushes to blame. The following short video shows the action

AAT datablock info disappears for the second- and final – time

The next shot shows me just before exiting the first circle on the way to JAVORJEV

Comments:

The AAT datablocks are still missing
The Target in the JAVORJEV circle is now toward the near side of the circle, so is there some optimization going on in the background?

The next shows my attempt to manually move the JAVORJEV target.

Comments:

The ETE & Delta T values look reasonable, and the implication is that I should be able to use up all the time by moving all the way to the back of the JAVORJEV circle
However, when I manually move the target to the front of the circle, there is almost NO change in the ETE/Dt values, and the small change that shows is in the wrong direction. Moving the target forward like this should make me way earlier, but the numbers show that I’ll be almost 1 minute LATER than I was before. how can this be?

As shown in the next video, I decided to try the ‘Optimized button to see what it did. This radically changed the target location, and the ETE/Dt values. After a few iterations, it looked like the Optimize function was indeed working properly.

Comments:

It takes a while for the optimization to converge. At first, the values for ETE & Dt are WAY off, and then they oscillate back and forth several times before stabilizing on believable numbers.

The last video covers the finish (or NOT-finish, in this case)

Comments:

At the start of this clip, XCSoar is in ‘Final Glide’ mode, but switches back to ‘Cruise’ just before entering the finish circle.
I was expecting a ‘Task Finished’ notification when I crossed into the circle, but didn’t get one. In fact, AFACT, XCSoar never finished this task at all. I’m sure this was an operator error on my part, but I don’t know what I screwed up – bummer!

Charging Station Connect/Disconnect Cycle

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Posted 11 November 2023

After getting the wide-body IR homing PID values defined properly, the next challenge was to actually get the robot to connect to the charging station, and after getting charged, to disconnect from it successfully. After the usual number of errors and goofs, I believe I have it working now. Here is a short video and the telemetry for a complete walltracking – IR home to charging station – disconnect from charging station – back to walltracking cycle

And here is the telemetry for the run:

Opening port
Port open
gl_pSerPort now points to active Serial (USB or Wixel)
7950: Starting setup() for WallE3_Quicksort_V4.ino

Checking for MPU6050 IMU at I2C Addr 0x68
MPU6050 connection successful
Initializing DMP...
Enabling DMP...
DMP ready! Waiting for MPU6050 drift rate to settle...
Calibrating...Retrieving Calibration Values


Msec	Hdg
10580	0.101	0.098
MPU6050 Ready at 10.58 Sec with delta = 0.003
Checking for Teensy 3.5 VL53L0X Controller at I2C addr 0x20
Teensy available at 11681 with gl_bVL53L0X_TeensyReady = 1. Waiting for Teensy setup() to finish
11684: got 1 from VL53L0X Teensy
Teensy setup() finished at 11786 mSec
VL53L0X Teensy Ready at 11788

Checking for Garmin LIDAR at Wire2 I2C addr 0x62
LIDAR Responded to query at Wire2 address 0x62!
Setting LIDAR acquisition repeat value to 0x02 for <100mSec measurement repeat delay
Initializing Front Distance Array...Done
Initializing Rear Distance Array...Done
Initializing Left/Right Distance Arrays...Done

Checking for Teensy 3.2 IRDET Controller at I2C addr 0x8
11837: IRDET Teensy Not Avail...
IRDET Teensy Ready at 11940
Fin1/Fin2/SteeringVal = 7960	12984	-0.2402
11941: Initializing IR Beam Total Value Averaging Array...Done
11945: Initializing IR Beam Steering Value Averaging Array...Done
Battery Voltage = 7.36

14153:	End of setup(): Elapsed run time set to 0

0.0:	Top of loop() - calling UpdateAllEnvironmentParameters()
Battery Voltage = 7.37
Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 0.4: gl_Left/RightCenterCm = 125.2/23.8, Left/RightSteerVal = -0.38/0.00
Just before call to  HandleAnomalousConditions() with anomaly code = NONE
In HandleAnomalousConditions(NEITHER) with last anomaly code = NONE
In HandleAnomalousConditions(NEITHER) ANOMALY_NONE CASE
0.5: gl_Left/RightCenterCm = 124.9/23.8, Left/RightSteerVal = -0.23/0.17

TrackRightWallOffset(350.0, 0.0, 20.0, 30) called

TrackRightWallOffset: Start tracking offset of 30cm at 0.5
Just after CaptureWallOffset(TRACKING_RIGHT, 23.8)


Sec	LCen	RCen	Deg	RF	RR	RStr	Front	Rear	FVar	RVar	LSpd	RSpd	ACODE	TRKDIR
0.6	125.8	23.4	0.2	23.7	22.8	-0.04	182	55	74880	12882	15	127	NONE	RIGHT
0.6	126.0	23.8	-0.0	22.4	22.8	0.09	181	54	73274	12742	54	95	NONE	RIGHT
0.7	125.2	23.3	-1.9	24.2	22.7	0.15	183	54	71972	12616	70	79	NONE	RIGHT
0.7	125.6	23.5	-3.7	22.3	22.7	-0.04	182	58	71002	12497	15	127	NONE	RIGHT
0.8	136.9	23.6	-5.2	24.3	22.8	0.15	181	64	70351	12374	68	81	NONE	RIGHT
0.8	145.2	24.1	-7.2	22.8	22.4	0.04	181	68	69993	12252	48	101	NONE	RIGHT
0.9	150.7	24.0	-8.8	25.7	23.1	0.26	180	89	69925	12093	106	43	NONE	RIGHT
0.9	155.0	23.8	-10.1	23.8	22.7	0.11	179	100	70133	11924	67	82	NONE	RIGHT
1.0	158.5	24.7	-10.1	24.4	23.2	0.12	178	106	70599	11754	67	82	NONE	RIGHT
1.0	154.7	23.0	-10.0	24.8	23.5	0.13	175	106	71333	11595	64	85	NONE	RIGHT
1.1	143.6	23.9	-10.0	24.7	23.9	0.08	173	106	72301	11450	54	95	NONE	RIGHT
1.1	136.0	23.8	-10.0	25.3	23.9	0.14	170	106	73497	11316	67	82	IR_BEAM_AVAILABLE	RIGHT
Stopping Motors!  Error Code is 9 --> IR_BEAM_AVAILABLE

1.1:	Top of loop() - calling UpdateAllEnvironmentParameters()
Battery Voltage = 7.35
Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 1.6: gl_Left/RightCenterCm = 119.5/25.5, Left/RightSteerVal = -0.30/0.10
Just before call to  HandleAnomalousConditions() with anomaly code = IR_BEAM_AVAILABLE
In HandleAnomalousConditions(RIGHT) with last anomaly code = IR_BEAM_AVAILABLE
IR Beam Detected with IR Beam Av = 32096, Battery Voltage = 7.35
Low battery - homing to Charger
OK we have a IR Beacon, with front distance = 158, LRSteer = -0.7!
In IRHomingNavigateToIAP with LF/LR/LS/RF/RR/RS = 121.0	121.6	-0.06	27.2	26.3	0.09
In IRHomingNavigateToIAP(RIGHT) with LRSteer = -0.6

In TurnToHomingBeacon(CW) with LRSteer = -0.6
At start: beaconAvg = 35847, deg = -9.1 with front dist = 160

Msec	Deg	Curr	Prev	Avg
17789	-9.1	-0.6	-0.6	35830
17896	-5.8	-0.6	-0.6	35614
18010	2.1	-0.4	-0.6	35870
18117	11.1	-0.1	-0.4	35999
18229	20.6	0.3	-0.1	33370
18346: Coarse tuning loop exited at 30.6deg with avg = 33370 and frontdist = 52

Fine Tuning: TurnToHomingBeacon(CW) with IRAvg = 30301, Steering = 0.62 & IRRotate Kp,Ki,Kd = (40, 5, 0)
	TTHB Fine Tune Start: Got 21660, 5108, 30301, 0.62 from IR Detector module

Msec	IRVal1	IRVal2	ValAvg	Steer	speed
19542	20630	2364	23020	0.79	-35
19692	20954	2546	23171	0.78	-39
19842	22392	3620	24168	0.72	-40
19993	21312	6060	25628	0.56	-36
20145	21514	10090	28329	0.36	-30
20293	19188	15268	31144	0.11	-21
20443	17170	19046	34092	-0.05	-14
20593	16724	19878	35758	-0.09	-12
20743	16716	19796	36443	-0.08	-12
20893	16680	19804	36532	-0.09	-11
21043	16672	19776	36481	-0.09	-11
21193	16642	19814	36462	-0.09	-10
21343	16576	19844	36441	-0.09	-10
21493	16606	19768	36416	-0.09	-9
21643	16586	19736	36372	-0.09	-9
21793	16596	19718	36336	-0.09	-9
21943	16562	19680	36292	-0.09	-8
22093	16516	19702	36258	-0.09	-8
22243	16534	19628	36207	-0.09	-7
22393	16520	19610	36170	-0.09	-7
22543	16406	19626	36108	-0.09	-6
22693	16344	19544	36016	-0.09	-6
22843	16320	19508	35916	-0.09	-5
22993	16286	19462	35821	-0.09	-5
23143	16206	19456	35746	-0.09	-4
23293	16146	19414	35656	-0.09	-4
23443	16046	19306	35524	-0.09	-3
23593	15946	19206	35354	-0.09	-3
23743	15722	19062	35096	-0.10	-2
23893	15548	18950	34811	-0.10	-2
24043	15322	18694	34432	-0.10	-1
24193	14950	18442	33968	-0.10	0
24343	15248	18188	33614	-0.09	-1
24493	15832	18278	33646	-0.07	-1
24643	16518	19136	34400	-0.07	-1
24793	16820	19940	35508	-0.08	0
24943	16788	19980	36394	-0.09	0
25093	16762	20016	36768	-0.09	0
25243	16818	19998	36787	-0.09	1
25393	16810	20024	36809	-0.09	1
25543	16840	19968	36819	-0.08	1
25693	16730	20046	36806	-0.09	2
25843	16698	20060	36780	-0.09	3
25993	16790	19936	36753	-0.09	3
26143	16736	19960	36726	-0.09	3
26293	16742	19960	36708	-0.09	4
26443	16806	19890	36698	-0.08	4
26593	16738	19890	36675	-0.09	5
26743	16704	19902	36643	-0.09	5
26893	16738	19884	36618	-0.09	5
27043	16632	19922	36594	-0.09	6
27193	16680	19840	36565	-0.09	6
27343	16690	19836	36533	-0.09	7
27493	16670	19806	36507	-0.09	7
27643	16622	19808	36477	-0.09	8
27793	16640	19788	36444	-0.09	8
27943	16644	19774	36425	-0.09	8
28093	16580	19798	36408	-0.09	9
28243	16562	19804	36387	-0.09	10
28393	16552	19746	36347	-0.09	10
28543	16544	19712	36306	-0.09	10
28693	16468	19676	36232	-0.09	11
28843	16500	19608	36169	-0.09	11
28993	16466	19578	36098	-0.09	12
29143	16428	19586	36055	-0.09	12
29293	16396	19602	36018	-0.09	13
29443	16336	19586	35978	-0.09	13
29593	16272	19466	35886	-0.09	13
29743	16290	19474	35808	-0.09	14
29893	16174	19358	35678	-0.09	14
30043	16084	19284	35554	-0.09	15
30193	15912	19224	35345	-0.09	16
30343	15772	19130	35135	-0.10	16
30493	15670	18910	34872	-0.09	16
30643	15458	18480	34473	-0.09	17
30793	15254	18000	33924	-0.08	17
30943	15268	17494	33318	-0.07	17
31093	15764	17440	33073	-0.05	16
31243	16480	18066	33504	-0.05	16
31393	17054	18920	34574	-0.05	17
	TTHB Fine Tune End: 17072, 18994, 35528, -0.05 from IR Detector module

31422: start/end_deg = -9.1/7.2, start/end_dist = 160/158


NavToIAP: IP is at 45 cm offset, 135 cm away from charging station, a ratio of 0.3
NavToIAP: Robot is at 159 from charger, so we need a 52 cm offset

In RotateToParallelOrientation(RIGHT)
RTPO: starting front/rear/steer avgs = 27.24/27.98/-0.07

NavToIAP(RIGHT) with par/IR hdg deg = 7.2/7.2, par/IR dist = 157/159
NavToIAP(RIGHT) with LF/LR/LS/RF/RR/RS = 155.4	154.3	0.1	26.5	28.1	-0.2
NavToIAP: Robot on same wall as charging station - proceed with normal homing
NavToIAP: Current wall offset is 26.8 cm
NavToIAP: After SpinTurn(), rear dist (cm) is 27.0

In MoveToDesiredRearDistCm(52) with Kp/Ki/Kd = 1.50/0.10/0.20
	MTRD: at start, tgt = 52cm, curr_dist = 27, front/rear var = 83325/13332
Msec	Rdist	TgtD	err	Ival	Out	Speed	FVar	RVar
35709	26.6	52	25.4	2.5	35.6	35	77266	13090
35759	26.2	52	25.8	5.1	43.7	43	75949	13039
35809	25.9	52	26.1	7.7	46.8	46	74999	13007
35859	26.1	52	25.9	10.3	49.2	49	74361	12986
35909	26.7	52	25.3	12.8	50.9	50	74049	12979
35959	27.5	52	24.5	15.3	52.2	52	74034	12983
36009	28.5	52	23.5	17.6	53.1	53	74343	12996
36059	30.9	52	21.1	19.8	51.9	51	74902	13016
36109	32.4	52	19.6	21.7	51.4	51	75722	13042
36159	32.8	52	19.2	23.6	52.5	52	76826	13081
36209	34.7	52	17.3	25.4	51.7	51	78151	13125
36259	35.7	52	16.3	27.0	51.6	51	79704	13177
36309	37.2	52	14.8	28.5	51.0	50	81405	13235
36359	38.9	52	13.1	29.8	49.8	49	83318	13301
36409	41.0	52	11.0	30.9	47.8	47	85315	13368
36459	42.5	52	9.5	31.8	46.4	46	87429	13442
36509	44.2	52	7.8	32.6	44.7	44	89662	13520
36559	45.9	52	6.1	33.2	42.7	42	91914	13604
36611	47.4	52	4.6	33.7	40.9	40	94239	13692
36659	48.4	52	3.6	34.0	39.6	39	96498	13786
36711	51.4	52	0.6	34.1	35.6	35	98742	13880
MTRD: Stopped with rear dist = 51, anomaly code = IR_BEAM_AVAILABLE
	MTRD: Stopped with rear dist = 51
IDX	FrontD	RearD
0	460	92
1	470	96
2	480	100
3	490	104
4	500	108
5	510	112
6	520	116
7	530	120
8	540	124
9	550	128
10	560	132
11	570	136
12	580	140
13	590	144
14	600	148
15	610	152
16	620	156
17	630	160
18	640	164
19	650	168
20	660	172
21	670	176
22	680	180
23	690	184
24	700	188
25	710	192
26	720	196
27	730	200
28	740	204
29	750	208
30	760	212
31	770	216
32	780	220
33	790	224
34	800	228
35	810	232
36	820	236
37	830	240
38	840	244
39	850	248
40	860	252
41	870	256
42	880	260
43	890	264
44	900	268
45	910	272
46	920	276
47	930	280
48	940	284
49	950	288
50	960	292
51	970	296
52	980	300
53	990	304
54	147	308
55	147	312
56	148	316
57	148	320
58	146	324
59	146	328
60	148	332
61	148	336
62	146	340
63	146	344
64	147	348
65	147	352
66	146	356
67	146	360
68	146	364
69	146	368
70	143	372
71	143	376
72	144	380
73	144	384
74	143	388
75	143	392
76	139	396
77	139	26
78	138	26
79	138	26
80	135	26
81	135	25
82	136	26
83	136	26
84	131	27
85	131	28
86	133	30
87	133	32
88	131	32
89	131	34
90	127	35
91	127	37
92	128	38
93	128	41
94	123	42
95	123	44
96	126	45
97	126	47
98	123	48
99	123	51

In TurnToHomingBeacon(CW) with LRSteer = -0.3
At start: beaconAvg = 102, deg = -85.0 with front dist = 118

Msec	Deg	Curr	Prev	Avg
36849	-84.9	0.0	-0.3	101
36956	-81.3	0.2	0.0	73
37070	-73.3	-0.1	0.2	80
37177	-64.2	0.0	-0.1	107
37288	-54.8	0.5	0.0	97
37400	-45.2	-1.0	0.5	8626
37507	-35.4	-1.0	-1.0	23297
37619	-25.5	-0.9	-1.0	32146
37731	-15.5	-0.9	-0.9	34919
37837	-5.4	-0.8	-0.9	37778
37949	4.8	-0.6	-0.8	42014
38061	15.0	-0.4	-0.6	47425
38168	25.3	0.1	-0.4	51514
38288: Coarse tuning loop exited at 35.3deg with avg = 51514 and frontdist = 102

Fine Tuning: TurnToHomingBeacon(CW) with IRAvg = 51268, Steering = 0.50 & IRRotate Kp,Ki,Kd = (40, 5, 0)
	TTHB Fine Tune Start: Got 36464, 12168, 51268, 0.50 from IR Detector module

Msec	IRVal1	IRVal2	ValAvg	Steer	speed
39484	40034	5894	45930	0.74	-33
39634	39880	6080	45952	0.74	-36
39785	37278	7982	45716	0.65	-36
39936	36324	11054	46199	0.53	-34
40085	34530	16074	47747	0.36	-29
40235	28236	23308	49842	0.10	-19
40385	23368	28180	51232	-0.09	-11
40535	21976	29310	51459	-0.14	-8
40685	21966	29254	51351	-0.14	-8
40835	21944	29236	51228	-0.14	-7
40985	21906	29202	51169	-0.14	-6
41135	21920	29244	51150	-0.14	-5
41285	21852	29214	51112	-0.14	-5
41435	21936	29118	51094	-0.14	-4
41585	21930	29204	51084	-0.14	-3
41735	21834	29148	51056	-0.14	-2
41885	21850	29054	51006	-0.14	-2
42035	21788	29132	50935	-0.14	-1
42185	21752	29040	50872	-0.14	0
42335	21716	29068	50832	-0.14	0
42485	21696	29036	50769	-0.14	0
42635	21676	28982	50724	-0.14	1
42785	21652	28966	50669	-0.14	2
42935	21666	28874	50605	-0.14	2
43085	21576	28862	50532	-0.14	3
43235	21504	28886	50456	-0.15	4
43385	21438	28826	50364	-0.15	5
43535	21330	28726	50236	-0.15	5
43685	21260	28600	50060	-0.15	6
43835	21048	28562	49842	-0.15	7
43985	20870	28432	49590	-0.15	8
44135	20634	28246	49264	-0.16	9
44285	20264	28034	48826	-0.16	10
44435	20440	27684	48434	-0.15	10
44585	21348	27430	48400	-0.12	10
44735	22118	29138	49386	-0.14	11
44885	22136	29468	50546	-0.14	12
45035	22152	29392	51468	-0.14	12
45185	22154	29416	51572	-0.14	13
45335	22082	29398	51531	-0.14	14
45485	22100	29426	51525	-0.14	15
45635	22120	29474	51533	-0.14	15
45785	22218	29298	51545	-0.14	16
45935	22750	28972	51610	-0.12	16
46085	22986	28770	51664	-0.11	16
46235	22998	28710	51728	-0.11	16
46385	22926	28764	51718	-0.11	17
46535	22884	28760	51680	-0.11	18
46685	22884	28756	51658	-0.11	18
46835	22894	28680	51619	-0.11	19
46985	22974	28570	51586	-0.11	19
47135	22996	28560	51558	-0.11	20
47285	22984	28532	51538	-0.11	20
47435	23080	28492	51548	-0.10	21
47585	23342	28072	51500	-0.09	21
47735	23752	27892	51543	-0.08	20
47885	23766	27742	51522	-0.08	21
48035	23820	27744	51572	-0.08	21
48185	24252	27370	51564	-0.06	21
48335	24444	27210	51613	-0.05	21
48485	24496	27108	51626	-0.05	21
48635	24566	27006	51610	-0.05	21
	TTHB Fine Tune End: 24584, 26992, 51584, -0.05 from IR Detector module

48659: start/end_deg = -85.0/17.6, start/end_dist = 118/162

	NavToIAP: Wall offset now 168.5 cm, with IRHomingValTotalAvg = 51564
	NavToIAP: Should be close to beacon centerline val avg = 51564, SteeringVal = -0.047
	IRHomeToChgStn with detection value = 51518, Steering = -0.05 & IRHOMING Kp,Ki,Kd = (50, 0, 0)

front dist = 165, avoidance dist = 0, gl_bChgConnect = 0, anomaly code = IR_BEAM_AVAILABLE

Time	BattV	Fin1	Fin2	Steer	PID_Out		LSpd	RSpd	FrontD	RearD
Charger Connected at 52402

38.2:	Top of loop() - calling UpdateAllEnvironmentParameters()
Battery Voltage = 7.49
Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 38.7: gl_Left/RightCenterCm = 62.9/17.9, Left/RightSteerVal = -1.00/0.01
Robot has successfully connected to charger!
52837: Reset VL53L0X Teensy to reduce current consumption
ChgSec	BattV	TotalI	RunI	ChgI	bChging

0.0	7.4632	1.2968	0.2645	1.0323	TRUE
0.1	7.4794	1.2935	0.2355	1.0581	TRUE
Charging timout value of 0.20 minutes expired at
Restart VL53L0X Teensy...
64851: got 255 from VL53L0X Teensy
Teensy setup() finished at 64953 mSec
VL53L0X Teensy Ready at 64954

Just after WaitForVL53L0XTeensy() and UpdateAllDistances()
LeftD	RightD	FrontD	RearD
400.0	400.0	4	400.0
in ExecDisconManeuver() with BattV = 7.4697
In ExecDisconManeuver() with left/right distances = 400.0/400.0
MTFD: at start, tgt = 70cm, curr_dist = 3, front/rear var = 83325/13332
MTFD: Stopped with front dist = 71, anomaly code = IR_BEAM_AVAILABLE
71916: Initializing IR Beam Total Value Averaging Array...Done
Just before call to  HandleAnomalousConditions() with anomaly code = NONE
In HandleAnomalousConditions(RIGHT) with last anomaly code = NONE
In HandleAnomalousConditions(RIGHT) ANOMALY_NONE CASE
57.8: gl_Left/RightCenterCm = 32.7/145.5, Left/RightSteerVal = 0.00/0.09
gl_LeftCenterCm <= gl_RightCenterCm --> Calling TrackLeftWallOffset()

TrackLeftWallOffset(350.0, 0.0, 20.0, 30) called

TrackLeftWallOffset: Start tracking offset of 30cm at 57.8
Just after CaptureWallOffset(TRACKING_LEFT, 32.7)


Sec	LCen	RCen	Deg	LF	LR	LStr	Front	Rear	FVar	RVar	LSpd	RSpd	ACODE	TRKDIR
57.9	33.0	142.0	-165.1	33.1	31.9	0.16	225	151	115756	7346	6	127	NONE	LEFT
58.0	33.0	144.8	-169.1	32.8	32.5	0.06	190	322	99779	7329	32	117	NONE	LEFT
58.1	32.5	147.4	-175.8	32.8	32.3	0.05	175	124	80283	7881	43	106	NONE	LEFT
58.2	32.7	147.6	178.5	32.0	33.0	-0.10	132	120	56728	7922	101	49	NONE	LEFT
58.3	33.5	149.1	176.8	32.1	33.0	-0.09	131	184	28594	8135	83	66	NONE	LEFT
58.4	33.5	149.3	177.0	31.5	32.2	-0.07	131	225	4229	8457	79	70	NONE	LEFT
58.5	33.0	149.5	177.9	31.5	32.4	-0.09	126	360	4196	8675	86	63	NONE	LEFT
58.6	32.6	149.5	179.2	31.6	31.8	-0.02	121	189	4091	8923	68	81	NONE	LEFT
58.7	32.8	149.9	179.1	32.9	32.5	0.00	116	170	3935	9481	59	90	NONE	LEFT
58.8	33.0	149.9	178.0	32.6	33.5	-0.09	115	134	3757	9753	82	67	NONE	LEFT
58.9	33.3	148.7	176.3	32.5	33.3	-0.08	125	175	3577	10066	83	67	NONE	LEFT
59.0	32.9	147.1	177.2	31.4	33.1	-0.17	110	147	3367	10520	127	22	NONE	LEFT
59.1	32.6	146.3	-179.7	31.6	32.6	-0.10	99	154	3138	11015	104	45	NONE	LEFT
59.2	32.1	147.4	-175.8	30.9	31.9	-0.10	100	133	2913	11341	102	47	NONE	LEFT
59.3	32.0	148.5	-173.6	31.7	31.7	0.00	113	100	2693	11880	61	88	NONE	LEFT
59.4	32.5	147.2	-173.5	32.0	31.9	0.01	113	232	2478	11945	58	91	NONE	LEFT
59.5	33.1	144.9	-174.4	32.6	32.1	-0.01	100	60	2264	12942	57	92	NONE	LEFT
59.6	33.6	144.3	-175.3	32.8	33.0	-0.02	90	204	2073	13157	61	88	NONE	LEFT
59.7	33.5	142.8	-176.0	33.1	33.2	-0.01	83	184	1905	13393	57	92	NONE	LEFT
59.8	33.3	142.6	-177.0	33.1	33.3	-0.02	78	160	1771	13706	61	88	NONE	LEFT
59.9	33.9	137.8	-177.9	33.3	34.0	-0.07	73	190	1676	13922	75	74	NONE	LEFT
60.0	33.8	127.1	-179.3	33.3	34.4	-0.11	66	183	1631	14243	96	53	NONE	LEFT
60.1	33.9	113.0	-179.4	33.5	34.0	-0.05	58	332	1640	14438	71	78	NONE	LEFT
60.2	34.1	109.3	-179.2	33.6	33.6	-0.01	54	202	1692	14633	51	98	NONE	LEFT
60.3	34.5	108.3	-179.2	33.5	34.2	-0.07	51	199	1713	14654	70	79	NONE	LEFT
60.4	34.4	112.3	-179.8	33.5	34.5	-0.10	43	244	1340	14590	87	62	NONE	LEFT
60.5	34.4	130.6	179.6	33.6	33.9	-0.03	37	229	1120	14605	57	92	NONE	LEFT
60.6	34.5	145.5	179.5	34.1	34.9	-0.08	33	251	984	14621	75	74	NONE	LEFT
60.7	35.0	150.9	179.4	35.1	34.0	0.11	29	274	1057	14475	8	127	WALL_OFFSET_DIST_AHEAD	LEFT
Stopping Motors!  Anomaly Code is 4 --> WALL_OFFSET_DIST_AHEAD

60.8:	Top of loop() - calling UpdateAllEnvironmentParameters()
Battery Voltage = 7.35
Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 61.2: gl_Left/RightCenterCm = 294.0/146.6, Left/RightSteerVal = 1.00/-0.57
Just before call to  HandleAnomalousConditions() with anomaly code = WALL_OFFSET_DIST_AHEAD
In HandleAnomalousConditions(LEFT) with last anomaly code = WALL_OFFSET_DIST_AHEAD
ANOMALY_WALL_OFFSET_DIST_AHEAD case detected with tracking case LEFT
In BackupAndTurn90Deg(CW)with front distance = 8
digitalWrite(CHG_FIN_LED_PIN, LOW);
MTFD: at start, tgt = 30cm, curr_dist = 9, front/rear var = 83325/13332

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Opening port

Port open

gl_pSerPort now points to active Serial (USB or Wixel)

7950: Starting setup() for WallE3_Quicksort_V4.ino

Checking for MPU6050 IMU at I2C Addr 0x68

MPU6050 connection successful

Initializing DMP...

Enabling DMP...

DMP ready! Waiting for MPU6050 drift rate to settle...

Calibrating...Retrieving Calibration Values

Msec Hdg

10580 0.101 0.098

MPU6050 Ready at 10.58 Sec with delta = 0.003

Checking for Teensy 3.5 VL53L0X Controller at I2C addr 0x20

Teensy available at 11681 with gl_bVL53L0X_TeensyReady = 1. Waiting for Teensy setup() to finish

11684: got 1 from VL53L0X Teensy

Teensy setup() finished at 11786 mSec

VL53L0X Teensy Ready at 11788

Checking for Garmin LIDAR at Wire2 I2C addr 0x62

LIDAR Responded to query at Wire2 address 0x62!

Setting LIDAR acquisition repeat value to 0x02 for <100mSec measurement repeat delay

Initializing Front Distance Array...Done

Initializing Rear Distance Array...Done

Initializing Left/Right Distance Arrays...Done

Checking for Teensy 3.2 IRDET Controller at I2C addr 0x8

11837: IRDET Teensy Not Avail...

IRDET Teensy Ready at 11940

Fin1/Fin2/SteeringVal = 7960 12984 -0.2402

11941: Initializing IR Beam Total Value Averaging Array...Done

11945: Initializing IR Beam Steering Value Averaging Array...Done

Battery Voltage = 7.36

14153: End of setup(): Elapsed run time set to 0

0.0: Top of loop() - calling UpdateAllEnvironmentParameters()

Battery Voltage = 7.37

Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 0.4: gl_Left/RightCenterCm = 125.2/23.8, Left/RightSteerVal = -0.38/0.00

Just before call to HandleAnomalousConditions() with anomaly code = NONE

In HandleAnomalousConditions(NEITHER) with last anomaly code = NONE

In HandleAnomalousConditions(NEITHER) ANOMALY_NONE CASE

0.5: gl_Left/RightCenterCm = 124.9/23.8, Left/RightSteerVal = -0.23/0.17

TrackRightWallOffset(350.0, 0.0, 20.0, 30) called

TrackRightWallOffset: Start tracking offset of 30cm at 0.5

Just after CaptureWallOffset(TRACKING_RIGHT, 23.8)

Sec LCen RCen Deg RF RR RStr Front Rear FVar RVar LSpd RSpd ACODE TRKDIR

0.6 125.8 23.4 0.2 23.7 22.8 -0.04 182 55 74880 12882 15 127 NONE RIGHT

0.6 126.0 23.8 -0.0 22.4 22.8 0.09 181 54 73274 12742 54 95 NONE RIGHT

0.7 125.2 23.3 -1.9 24.2 22.7 0.15 183 54 71972 12616 70 79 NONE RIGHT

0.7 125.6 23.5 -3.7 22.3 22.7 -0.04 182 58 71002 12497 15 127 NONE RIGHT

0.8 136.9 23.6 -5.2 24.3 22.8 0.15 181 64 70351 12374 68 81 NONE RIGHT

0.8 145.2 24.1 -7.2 22.8 22.4 0.04 181 68 69993 12252 48 101 NONE RIGHT

0.9 150.7 24.0 -8.8 25.7 23.1 0.26 180 89 69925 12093 106 43 NONE RIGHT

0.9 155.0 23.8 -10.1 23.8 22.7 0.11 179 100 70133 11924 67 82 NONE RIGHT

1.0 158.5 24.7 -10.1 24.4 23.2 0.12 178 106 70599 11754 67 82 NONE RIGHT

1.0 154.7 23.0 -10.0 24.8 23.5 0.13 175 106 71333 11595 64 85 NONE RIGHT

1.1 143.6 23.9 -10.0 24.7 23.9 0.08 173 106 72301 11450 54 95 NONE RIGHT

1.1 136.0 23.8 -10.0 25.3 23.9 0.14 170 106 73497 11316 67 82 IR_BEAM_AVAILABLE RIGHT

Stopping Motors! Error Code is 9 --> IR_BEAM_AVAILABLE

1.1: Top of loop() - calling UpdateAllEnvironmentParameters()

Battery Voltage = 7.35

Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 1.6: gl_Left/RightCenterCm = 119.5/25.5, Left/RightSteerVal = -0.30/0.10

Just before call to HandleAnomalousConditions() with anomaly code = IR_BEAM_AVAILABLE

In HandleAnomalousConditions(RIGHT) with last anomaly code = IR_BEAM_AVAILABLE

IR Beam Detected with IR Beam Av = 32096, Battery Voltage = 7.35

Low battery - homing to Charger

OK we have a IR Beacon, with front distance = 158, LRSteer = -0.7!

In IRHomingNavigateToIAP with LF/LR/LS/RF/RR/RS = 121.0 121.6 -0.06 27.2 26.3 0.09

In IRHomingNavigateToIAP(RIGHT) with LRSteer = -0.6

In TurnToHomingBeacon(CW) with LRSteer = -0.6

At start: beaconAvg = 35847, deg = -9.1 with front dist = 160

Msec Deg Curr Prev Avg

17789 -9.1 -0.6 -0.6 35830

17896 -5.8 -0.6 -0.6 35614

18010 2.1 -0.4 -0.6 35870

18117 11.1 -0.1 -0.4 35999

18229 20.6 0.3 -0.1 33370

18346: Coarse tuning loop exited at 30.6deg with avg = 33370 and frontdist = 52

Fine Tuning: TurnToHomingBeacon(CW) with IRAvg = 30301, Steering = 0.62 & IRRotate Kp,Ki,Kd = (40, 5, 0)

TTHB Fine Tune Start: Got 21660, 5108, 30301, 0.62 from IR Detector module

Msec IRVal1 IRVal2 ValAvg Steer speed

19542 20630 2364 23020 0.79 -35

19692 20954 2546 23171 0.78 -39

19842 22392 3620 24168 0.72 -40

19993 21312 6060 25628 0.56 -36

20145 21514 10090 28329 0.36 -30

20293 19188 15268 31144 0.11 -21

20443 17170 19046 34092 -0.05 -14

20593 16724 19878 35758 -0.09 -12

20743 16716 19796 36443 -0.08 -12

20893 16680 19804 36532 -0.09 -11

21043 16672 19776 36481 -0.09 -11

21193 16642 19814 36462 -0.09 -10

21343 16576 19844 36441 -0.09 -10

21493 16606 19768 36416 -0.09 -9

21643 16586 19736 36372 -0.09 -9

21793 16596 19718 36336 -0.09 -9

21943 16562 19680 36292 -0.09 -8

22093 16516 19702 36258 -0.09 -8

22243 16534 19628 36207 -0.09 -7

22393 16520 19610 36170 -0.09 -7

22543 16406 19626 36108 -0.09 -6

22693 16344 19544 36016 -0.09 -6

22843 16320 19508 35916 -0.09 -5

22993 16286 19462 35821 -0.09 -5

23143 16206 19456 35746 -0.09 -4

23293 16146 19414 35656 -0.09 -4

23443 16046 19306 35524 -0.09 -3

23593 15946 19206 35354 -0.09 -3

23743 15722 19062 35096 -0.10 -2

23893 15548 18950 34811 -0.10 -2

24043 15322 18694 34432 -0.10 -1

24193 14950 18442 33968 -0.10 0

24343 15248 18188 33614 -0.09 -1

24493 15832 18278 33646 -0.07 -1

24643 16518 19136 34400 -0.07 -1

24793 16820 19940 35508 -0.08 0

24943 16788 19980 36394 -0.09 0

25093 16762 20016 36768 -0.09 0

25243 16818 19998 36787 -0.09 1

25393 16810 20024 36809 -0.09 1

25543 16840 19968 36819 -0.08 1

25693 16730 20046 36806 -0.09 2

25843 16698 20060 36780 -0.09 3

25993 16790 19936 36753 -0.09 3

26143 16736 19960 36726 -0.09 3

26293 16742 19960 36708 -0.09 4

26443 16806 19890 36698 -0.08 4

26593 16738 19890 36675 -0.09 5

26743 16704 19902 36643 -0.09 5

26893 16738 19884 36618 -0.09 5

27043 16632 19922 36594 -0.09 6

27193 16680 19840 36565 -0.09 6

27343 16690 19836 36533 -0.09 7

27493 16670 19806 36507 -0.09 7

27643 16622 19808 36477 -0.09 8

27793 16640 19788 36444 -0.09 8

27943 16644 19774 36425 -0.09 8

28093 16580 19798 36408 -0.09 9

28243 16562 19804 36387 -0.09 10

28393 16552 19746 36347 -0.09 10

28543 16544 19712 36306 -0.09 10

28693 16468 19676 36232 -0.09 11

28843 16500 19608 36169 -0.09 11

28993 16466 19578 36098 -0.09 12

29143 16428 19586 36055 -0.09 12

29293 16396 19602 36018 -0.09 13

29443 16336 19586 35978 -0.09 13

29593 16272 19466 35886 -0.09 13

29743 16290 19474 35808 -0.09 14

29893 16174 19358 35678 -0.09 14

30043 16084 19284 35554 -0.09 15

30193 15912 19224 35345 -0.09 16

30343 15772 19130 35135 -0.10 16

30493 15670 18910 34872 -0.09 16

30643 15458 18480 34473 -0.09 17

30793 15254 18000 33924 -0.08 17

30943 15268 17494 33318 -0.07 17

31093 15764 17440 33073 -0.05 16

31243 16480 18066 33504 -0.05 16

31393 17054 18920 34574 -0.05 17

TTHB Fine Tune End: 17072, 18994, 35528, -0.05 from IR Detector module

31422: start/end_deg = -9.1/7.2, start/end_dist = 160/158

NavToIAP: IP is at 45 cm offset, 135 cm away from charging station, a ratio of 0.3

NavToIAP: Robot is at 159 from charger, so we need a 52 cm offset

In RotateToParallelOrientation(RIGHT)

RTPO: starting front/rear/steer avgs = 27.24/27.98/-0.07

NavToIAP(RIGHT) with par/IR hdg deg = 7.2/7.2, par/IR dist = 157/159

NavToIAP(RIGHT) with LF/LR/LS/RF/RR/RS = 155.4 154.3 0.1 26.5 28.1 -0.2

NavToIAP: Robot on same wall as charging station - proceed with normal homing

NavToIAP: Current wall offset is 26.8 cm

NavToIAP: After SpinTurn(), rear dist (cm) is 27.0

In MoveToDesiredRearDistCm(52) with Kp/Ki/Kd = 1.50/0.10/0.20

MTRD: at start, tgt = 52cm, curr_dist = 27, front/rear var = 83325/13332

Msec Rdist TgtD err Ival Out Speed FVar RVar

35709 26.6 52 25.4 2.5 35.6 35 77266 13090

35759 26.2 52 25.8 5.1 43.7 43 75949 13039

35809 25.9 52 26.1 7.7 46.8 46 74999 13007

35859 26.1 52 25.9 10.3 49.2 49 74361 12986

35909 26.7 52 25.3 12.8 50.9 50 74049 12979

35959 27.5 52 24.5 15.3 52.2 52 74034 12983

36009 28.5 52 23.5 17.6 53.1 53 74343 12996

36059 30.9 52 21.1 19.8 51.9 51 74902 13016

36109 32.4 52 19.6 21.7 51.4 51 75722 13042

36159 32.8 52 19.2 23.6 52.5 52 76826 13081

36209 34.7 52 17.3 25.4 51.7 51 78151 13125

36259 35.7 52 16.3 27.0 51.6 51 79704 13177

36309 37.2 52 14.8 28.5 51.0 50 81405 13235

36359 38.9 52 13.1 29.8 49.8 49 83318 13301

36409 41.0 52 11.0 30.9 47.8 47 85315 13368

36459 42.5 52 9.5 31.8 46.4 46 87429 13442

36509 44.2 52 7.8 32.6 44.7 44 89662 13520

36559 45.9 52 6.1 33.2 42.7 42 91914 13604

36611 47.4 52 4.6 33.7 40.9 40 94239 13692

36659 48.4 52 3.6 34.0 39.6 39 96498 13786

36711 51.4 52 0.6 34.1 35.6 35 98742 13880

MTRD: Stopped with rear dist = 51, anomaly code = IR_BEAM_AVAILABLE

MTRD: Stopped with rear dist = 51

IDX FrontD RearD

0 460 92

1 470 96

2 480 100

3 490 104

4 500 108

5 510 112

6 520 116

7 530 120

8 540 124

9 550 128

10 560 132

11 570 136

12 580 140

13 590 144

14 600 148

15 610 152

16 620 156

17 630 160

18 640 164

19 650 168

20 660 172

21 670 176

22 680 180

23 690 184

24 700 188

25 710 192

26 720 196

27 730 200

28 740 204

29 750 208

30 760 212

31 770 216

32 780 220

33 790 224

34 800 228

35 810 232

36 820 236

37 830 240

38 840 244

39 850 248

40 860 252

41 870 256

42 880 260

43 890 264

44 900 268

45 910 272

46 920 276

47 930 280

48 940 284

49 950 288

50 960 292

51 970 296

52 980 300

53 990 304

54 147 308

55 147 312

56 148 316

57 148 320

58 146 324

59 146 328

60 148 332

61 148 336

62 146 340

63 146 344

64 147 348

65 147 352

66 146 356

67 146 360

68 146 364

69 146 368

70 143 372

71 143 376

72 144 380

73 144 384

74 143 388

75 143 392

76 139 396

77 139 26

78 138 26

79 138 26

80 135 26

81 135 25

82 136 26

83 136 26

84 131 27

85 131 28

86 133 30

87 133 32

88 131 32

89 131 34

90 127 35

91 127 37

92 128 38

93 128 41

94 123 42

95 123 44

96 126 45

97 126 47

98 123 48

99 123 51

In TurnToHomingBeacon(CW) with LRSteer = -0.3

At start: beaconAvg = 102, deg = -85.0 with front dist = 118

Msec Deg Curr Prev Avg

36849 -84.9 0.0 -0.3 101

36956 -81.3 0.2 0.0 73

37070 -73.3 -0.1 0.2 80

37177 -64.2 0.0 -0.1 107

37288 -54.8 0.5 0.0 97

37400 -45.2 -1.0 0.5 8626

37507 -35.4 -1.0 -1.0 23297

37619 -25.5 -0.9 -1.0 32146

37731 -15.5 -0.9 -0.9 34919

37837 -5.4 -0.8 -0.9 37778

37949 4.8 -0.6 -0.8 42014

38061 15.0 -0.4 -0.6 47425

38168 25.3 0.1 -0.4 51514

38288: Coarse tuning loop exited at 35.3deg with avg = 51514 and frontdist = 102

Fine Tuning: TurnToHomingBeacon(CW) with IRAvg = 51268, Steering = 0.50 & IRRotate Kp,Ki,Kd = (40, 5, 0)

TTHB Fine Tune Start: Got 36464, 12168, 51268, 0.50 from IR Detector module

Msec IRVal1 IRVal2 ValAvg Steer speed

39484 40034 5894 45930 0.74 -33

39634 39880 6080 45952 0.74 -36

39785 37278 7982 45716 0.65 -36

39936 36324 11054 46199 0.53 -34

40085 34530 16074 47747 0.36 -29

40235 28236 23308 49842 0.10 -19

40385 23368 28180 51232 -0.09 -11

40535 21976 29310 51459 -0.14 -8

40685 21966 29254 51351 -0.14 -8

40835 21944 29236 51228 -0.14 -7

40985 21906 29202 51169 -0.14 -6

41135 21920 29244 51150 -0.14 -5

41285 21852 29214 51112 -0.14 -5

41435 21936 29118 51094 -0.14 -4

41585 21930 29204 51084 -0.14 -3

41735 21834 29148 51056 -0.14 -2

41885 21850 29054 51006 -0.14 -2

42035 21788 29132 50935 -0.14 -1

42185 21752 29040 50872 -0.14 0

42335 21716 29068 50832 -0.14 0

42485 21696 29036 50769 -0.14 0

42635 21676 28982 50724 -0.14 1

42785 21652 28966 50669 -0.14 2

42935 21666 28874 50605 -0.14 2

43085 21576 28862 50532 -0.14 3

43235 21504 28886 50456 -0.15 4

43385 21438 28826 50364 -0.15 5

43535 21330 28726 50236 -0.15 5

43685 21260 28600 50060 -0.15 6

43835 21048 28562 49842 -0.15 7

43985 20870 28432 49590 -0.15 8

44135 20634 28246 49264 -0.16 9

44285 20264 28034 48826 -0.16 10

44435 20440 27684 48434 -0.15 10

44585 21348 27430 48400 -0.12 10

44735 22118 29138 49386 -0.14 11

44885 22136 29468 50546 -0.14 12

45035 22152 29392 51468 -0.14 12

45185 22154 29416 51572 -0.14 13

45335 22082 29398 51531 -0.14 14

45485 22100 29426 51525 -0.14 15

45635 22120 29474 51533 -0.14 15

45785 22218 29298 51545 -0.14 16

45935 22750 28972 51610 -0.12 16

46085 22986 28770 51664 -0.11 16

46235 22998 28710 51728 -0.11 16

46385 22926 28764 51718 -0.11 17

46535 22884 28760 51680 -0.11 18

46685 22884 28756 51658 -0.11 18

46835 22894 28680 51619 -0.11 19

46985 22974 28570 51586 -0.11 19

47135 22996 28560 51558 -0.11 20

47285 22984 28532 51538 -0.11 20

47435 23080 28492 51548 -0.10 21

47585 23342 28072 51500 -0.09 21

47735 23752 27892 51543 -0.08 20

47885 23766 27742 51522 -0.08 21

48035 23820 27744 51572 -0.08 21

48185 24252 27370 51564 -0.06 21

48335 24444 27210 51613 -0.05 21

48485 24496 27108 51626 -0.05 21

48635 24566 27006 51610 -0.05 21

TTHB Fine Tune End: 24584, 26992, 51584, -0.05 from IR Detector module

48659: start/end_deg = -85.0/17.6, start/end_dist = 118/162

NavToIAP: Wall offset now 168.5 cm, with IRHomingValTotalAvg = 51564

NavToIAP: Should be close to beacon centerline val avg = 51564, SteeringVal = -0.047

IRHomeToChgStn with detection value = 51518, Steering = -0.05 & IRHOMING Kp,Ki,Kd = (50, 0, 0)

front dist = 165, avoidance dist = 0, gl_bChgConnect = 0, anomaly code = IR_BEAM_AVAILABLE

Time BattV Fin1 Fin2 Steer PID_Out LSpd RSpd FrontD RearD

Charger Connected at 52402

38.2: Top of loop() - calling UpdateAllEnvironmentParameters()

Battery Voltage = 7.49

Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 38.7: gl_Left/RightCenterCm = 62.9/17.9, Left/RightSteerVal = -1.00/0.01

Robot has successfully connected to charger!

52837: Reset VL53L0X Teensy to reduce current consumption

ChgSec BattV TotalI RunI ChgI bChging

0.0 7.4632 1.2968 0.2645 1.0323 TRUE

0.1 7.4794 1.2935 0.2355 1.0581 TRUE

Charging timout value of 0.20 minutes expired at

Restart VL53L0X Teensy...

64851: got 255 from VL53L0X Teensy

Teensy setup() finished at 64953 mSec

VL53L0X Teensy Ready at 64954

Just after WaitForVL53L0XTeensy() and UpdateAllDistances()

LeftD RightD FrontD RearD

400.0 400.0 4 400.0

in ExecDisconManeuver() with BattV = 7.4697

In ExecDisconManeuver() with left/right distances = 400.0/400.0

MTFD: at start, tgt = 70cm, curr_dist = 3, front/rear var = 83325/13332

MTFD: Stopped with front dist = 71, anomaly code = IR_BEAM_AVAILABLE

71916: Initializing IR Beam Total Value Averaging Array...Done

Just before call to HandleAnomalousConditions() with anomaly code = NONE

In HandleAnomalousConditions(RIGHT) with last anomaly code = NONE

In HandleAnomalousConditions(RIGHT) ANOMALY_NONE CASE

57.8: gl_Left/RightCenterCm = 32.7/145.5, Left/RightSteerVal = 0.00/0.09

gl_LeftCenterCm <= gl_RightCenterCm --> Calling TrackLeftWallOffset()

TrackLeftWallOffset(350.0, 0.0, 20.0, 30) called

TrackLeftWallOffset: Start tracking offset of 30cm at 57.8

Just after CaptureWallOffset(TRACKING_LEFT, 32.7)

Sec LCen RCen Deg LF LR LStr Front Rear FVar RVar LSpd RSpd ACODE TRKDIR

57.9 33.0 142.0 -165.1 33.1 31.9 0.16 225 151 115756 7346 6 127 NONE LEFT

58.0 33.0 144.8 -169.1 32.8 32.5 0.06 190 322 99779 7329 32 117 NONE LEFT

58.1 32.5 147.4 -175.8 32.8 32.3 0.05 175 124 80283 7881 43 106 NONE LEFT

58.2 32.7 147.6 178.5 32.0 33.0 -0.10 132 120 56728 7922 101 49 NONE LEFT

58.3 33.5 149.1 176.8 32.1 33.0 -0.09 131 184 28594 8135 83 66 NONE LEFT

58.4 33.5 149.3 177.0 31.5 32.2 -0.07 131 225 4229 8457 79 70 NONE LEFT

58.5 33.0 149.5 177.9 31.5 32.4 -0.09 126 360 4196 8675 86 63 NONE LEFT

58.6 32.6 149.5 179.2 31.6 31.8 -0.02 121 189 4091 8923 68 81 NONE LEFT

58.7 32.8 149.9 179.1 32.9 32.5 0.00 116 170 3935 9481 59 90 NONE LEFT

58.8 33.0 149.9 178.0 32.6 33.5 -0.09 115 134 3757 9753 82 67 NONE LEFT

58.9 33.3 148.7 176.3 32.5 33.3 -0.08 125 175 3577 10066 83 67 NONE LEFT

59.0 32.9 147.1 177.2 31.4 33.1 -0.17 110 147 3367 10520 127 22 NONE LEFT

59.1 32.6 146.3 -179.7 31.6 32.6 -0.10 99 154 3138 11015 104 45 NONE LEFT

59.2 32.1 147.4 -175.8 30.9 31.9 -0.10 100 133 2913 11341 102 47 NONE LEFT

59.3 32.0 148.5 -173.6 31.7 31.7 0.00 113 100 2693 11880 61 88 NONE LEFT

59.4 32.5 147.2 -173.5 32.0 31.9 0.01 113 232 2478 11945 58 91 NONE LEFT

59.5 33.1 144.9 -174.4 32.6 32.1 -0.01 100 60 2264 12942 57 92 NONE LEFT

59.6 33.6 144.3 -175.3 32.8 33.0 -0.02 90 204 2073 13157 61 88 NONE LEFT

59.7 33.5 142.8 -176.0 33.1 33.2 -0.01 83 184 1905 13393 57 92 NONE LEFT

59.8 33.3 142.6 -177.0 33.1 33.3 -0.02 78 160 1771 13706 61 88 NONE LEFT

59.9 33.9 137.8 -177.9 33.3 34.0 -0.07 73 190 1676 13922 75 74 NONE LEFT

60.0 33.8 127.1 -179.3 33.3 34.4 -0.11 66 183 1631 14243 96 53 NONE LEFT

60.1 33.9 113.0 -179.4 33.5 34.0 -0.05 58 332 1640 14438 71 78 NONE LEFT

60.2 34.1 109.3 -179.2 33.6 33.6 -0.01 54 202 1692 14633 51 98 NONE LEFT

60.3 34.5 108.3 -179.2 33.5 34.2 -0.07 51 199 1713 14654 70 79 NONE LEFT

60.4 34.4 112.3 -179.8 33.5 34.5 -0.10 43 244 1340 14590 87 62 NONE LEFT

60.5 34.4 130.6 179.6 33.6 33.9 -0.03 37 229 1120 14605 57 92 NONE LEFT

60.6 34.5 145.5 179.5 34.1 34.9 -0.08 33 251 984 14621 75 74 NONE LEFT

60.7 35.0 150.9 179.4 35.1 34.0 0.11 29 274 1057 14475 8 127 WALL_OFFSET_DIST_AHEAD LEFT

Stopping Motors! Anomaly Code is 4 --> WALL_OFFSET_DIST_AHEAD

60.8: Top of loop() - calling UpdateAllEnvironmentParameters()

Battery Voltage = 7.35

Just after first UpdateAllEnvironmentParameters() & 200mSec delay at top of loop() 61.2: gl_Left/RightCenterCm = 294.0/146.6, Left/RightSteerVal = 1.00/-0.57

Just before call to HandleAnomalousConditions() with anomaly code = WALL_OFFSET_DIST_AHEAD

In HandleAnomalousConditions(LEFT) with last anomaly code = WALL_OFFSET_DIST_AHEAD

ANOMALY_WALL_OFFSET_DIST_AHEAD case detected with tracking case LEFT

In BackupAndTurn90Deg(CW)with front distance = 8

digitalWrite(CHG_FIN_LED_PIN, LOW);

MTFD: at start, tgt = 30cm, curr_dist = 9, front/rear var = 83325/13332

WallE3 Wall Track Tuning Review

1 Reply

Posted 22 January 2023

This post is intended to get me synched back up with the current state of play in my numerous wall track tuning exercises. I am using these posts as a memory aid, as my short-term memory sucks these days.

Difference between WallE3_WallTrackTuning_V5 & _V4:

V5 uses ‘enums.h’ to eliminate VS2022 intellisense errors
V5 RotateToParallelOrientation(): ported in from WallE3_ParallelFind_V1
V5 MoveToDesiredLeftDistCm uses Left distance corrected for orientation, but didn’t make change from uint16_t to float (fixed 01/22/23)
V5 changed parameter input from Offset, Kp,Ki,Kd to Offset, RunMsec, LoopMsec
V5 modified to try ‘pulsed turn’ algorithm.

Difference between WallE3_WallTrackTuning_V4 & _V3:

V4 added #define NO_LIDAR
V4 changed distance sensor values from uint16_t to float
V4 experimented with ‘flip-flopping’ WallTrackSetPoint from -0.2 to +0.2 dep on how close the corrected center distance was to the desired offset (However, I believe this was done incorrectly – the PID engine compared the corrected center distance to WallTrackSetPoint – literally apples to oranges)

So WallE3_WallTrackTuning_V5 seems to be the latest ‘tuning’ implementation.

Comparison of WallE3_WallTrack_Vx files:

WallE3_WallTrack_V2 vs WallE3_WallTrack_V1 (Created: 2/19/2022)

V2 moved all inline tracking code into TrackLeft/RightWallOffset() functions (later ported back into V1 – don’t know why)
V2 changed all ‘double’ declarations to ‘float’ due to change from Mega2560 to T3.5

WallE3_WallTrack_V3 vs WallE3_WallTrack_V2 (Created: 2/22/2022)

V3 Chg left/right/rear dists from mm to cm
V3 Concentrated all environmental updates into UpdateAllEnvironmentParameters();
V3 No longer using GetOpMode()

WallE3_WallTrack_V4 vs WallE3_WallTrack_V3 (Created: 3/25/2022)

V4 Added ‘RollingForwardTurn() function

WallE3_WallTrack_V5 vs WallE3_WallTrack_V4 (Created: 3/25/2022)

No real changes between V5 & V4

24 January 2023 Update:

I returned WallE3_WallTrackTuning_V5 to its original configuration, using my custom PIDCalcs() function, using the following modified inputs:

//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post
  glLeftCentCorrCm = CorrDistForOrient(glLeftCenterCm, glLeftSteeringVal);
  float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f;
  WallTrackSteerVal = glLeftSteeringVal + offset_factor;

//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post

glLeftCentCorrCm = CorrDistForOrient(glLeftCenterCm, glLeftSteeringVal);

float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f;

WallTrackSteerVal = glLeftSteeringVal + offset_factor;

So this is the ‘other’ method – using the modified steering value as the input, and trying to drive the system to zero. Within just a few trials I rapidly homed in on one of the PID triplets I had used before, namely PID(3,0,1). Here’s the raw output, a plot of orientation-corrected distance vs setpoint, and a short video on my 4m straight wall section:

TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 3.00	0.00	1.00
Msec	LF	LC	LR	Steer	Deg	Cos	LCCorr	Set	Err	SpinDeg
In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec	LF	LC	LR	LCCorr	OffCm	tErr	LastI	LastD	Out	Lspd	Rspd
28916	40.10	40.30	38.80	39.21	40.00	0.79	0.00	0.79	1.58	76	73
28966	39.20	41.90	38.00	40.93	40.00	-0.93	0.00	-1.72	-1.07	73	76
29016	40.10	41.40	38.00	40.44	40.00	-0.44	0.00	0.49	-1.82	73	76
29066	40.10	41.40	37.60	37.48	40.00	2.52	0.00	2.97	4.60	79	70
29116	39.90	41.70	37.80	38.85	40.00	1.15	0.00	-1.37	4.82	79	70
29166	39.80	41.70	37.70	38.85	40.00	1.15	0.00	0.00	3.44	78	71
29216	39.60	41.10	37.90	39.23	40.00	0.77	0.00	-0.38	2.69	77	72
29266	39.90	41.80	37.90	39.20	40.00	0.80	0.00	0.03	2.38	77	72
29316	39.90	41.60	37.30	37.36	40.00	2.64	0.00	1.84	6.08	81	68
29366	40.10	42.10	37.90	38.96	40.00	1.04	0.00	-1.60	4.72	79	70
29416	40.10	41.70	38.60	40.21	40.00	-0.21	0.00	-1.25	0.62	75	74
29466	40.10	41.70	38.60	40.21	40.00	-0.21	0.00	0.00	-0.63	74	75
29516	41.10	41.80	38.90	38.68	40.00	1.32	0.00	1.53	2.43	77	72
29566	39.90	42.30	39.40	42.13	40.00	-2.13	0.00	-3.45	-2.94	72	77
29616	40.20	42.00	39.10	41.18	40.00	-1.18	0.00	0.95	-4.49	70	79
29666	40.00	42.80	38.40	41.07	40.00	-1.07	0.00	0.12	-3.31	71	78
29716	41.40	42.60	38.80	38.26	40.00	1.74	0.00	2.81	2.42	77	72
29766	40.10	41.90	38.80	40.77	40.00	-0.77	0.00	-2.51	0.21	75	74
29816	41.20	42.10	38.80	38.40	40.00	1.60	0.00	2.36	2.43	77	72
29866	41.30	42.90	38.80	39.13	40.00	0.87	0.00	-0.73	3.33	78	71
29916	41.30	42.90	38.30	37.22	40.00	2.78	0.00	1.91	6.42	81	68
29966	40.50	43.10	39.60	42.54	40.00	-2.54	0.00	-5.31	-2.30	72	77
30016	41.30	42.10	39.10	38.96	40.00	1.04	0.00	3.58	-0.46	74	75
30066	40.80	43.20	38.90	40.76	40.00	-0.76	0.00	-1.80	-0.48	74	75
30116	41.80	42.60	39.00	37.63	40.00	2.37	0.00	3.14	3.98	78	71
30166	41.20	43.00	39.90	41.84	40.00	-1.84	0.00	-4.21	-1.30	73	76
30216	41.40	43.80	38.90	39.65	40.00	0.35	0.00	2.19	-1.14	73	76
30266	41.50	44.40	38.60	38.87	40.00	1.13	0.00	0.77	2.60	77	72
30316	40.80	42.20	39.60	41.23	40.00	-1.23	0.00	-2.35	-1.32	73	76
30366	40.80	42.70	37.90	37.39	40.00	2.61	0.00	3.84	4.00	79	70
30416	40.90	43.30	39.30	41.55	40.00	-1.55	0.00	-4.16	-0.48	74	75
30466	41.30	43.50	38.30	37.74	40.00	2.26	0.00	3.80	2.97	77	72
30516	40.80	42.60	38.00	37.63	40.00	2.37	0.00	0.12	7.00	82	67
30566	40.80	42.80	38.30	38.74	40.00	1.26	0.00	-1.12	4.88	79	70
30616	40.30	42.60	38.40	40.20	40.00	-0.20	0.00	-1.45	0.86	75	74
30666	40.90	42.30	38.40	33.83	40.00	6.17	0.00	6.37	12.15	87	62
30716	41.90	44.00	39.10	38.86	40.00	1.14	0.00	-5.04	8.45	83	66
30766	41.60	44.20	40.20	42.82	40.00	-2.82	0.00	-3.96	-4.50	70	79
30816	41.50	44.00	39.20	40.43	40.00	-0.43	0.00	2.39	-3.68	71	78
30866	41.80	43.60	40.40	42.24	40.00	-2.24	0.00	-1.81	-4.91	70	79
30916	41.90	43.50	40.40	41.94	40.00	-1.94	0.00	0.29	-6.13	68	81
30966	41.70	44.40	41.40	44.33	40.00	-4.33	0.00	-2.39	-10.61	64	85
31016	41.50	44.40	40.30	43.37	40.00	-3.37	0.00	0.96	-11.08	63	86
31066	42.00	44.70	41.20	44.24	40.00	-4.24	0.00	-0.86	-11.85	63	86
31116	42.40	45.20	40.20	41.83	40.00	-1.83	0.00	2.41	-7.89	67	82
31166	42.70	44.40	40.80	41.89	40.00	-1.89	0.00	-0.07	-5.62	69	80
31216	42.40	44.90	40.20	41.55	40.00	-1.55	0.00	0.34	-5.00	70	79
31266	41.80	46.70	40.20	44.81	40.00	-4.81	0.00	-3.26	-11.17	63	86
31316	43.00	47.00	39.80	40.02	40.00	-0.02	0.00	4.79	-4.85	70	79
31366	42.80	44.90	41.30	43.29	40.00	-3.29	0.00	-3.27	-6.61	68	81
31416	42.60	46.40	40.20	42.33	40.00	-2.33	0.00	0.97	-7.95	67	82
31466	42.40	45.00	41.80	44.74	40.00	-4.74	0.00	-2.41	-11.80	63	86
31516	42.90	44.60	40.60	40.98	40.00	-0.98	0.00	3.75	-6.70	68	81
31566	43.50	45.00	40.80	40.08	40.00	-0.08	0.00	0.90	-1.15	73	76
31616	43.00	46.60	41.80	45.52	40.00	-5.52	0.00	-5.44	-11.13	63	86
31666	43.40	45.80	41.00	41.78	40.00	-1.78	0.00	3.75	-9.08	65	84
31716	43.30	45.60	40.20	39.20	40.00	0.80	0.00	2.58	-0.18	74	75
31766	42.90	45.60	41.50	44.18	40.00	-4.18	0.00	-4.97	-7.55	67	82
31816	42.80	45.70	41.60	44.64	40.00	-4.64	0.00	-0.47	-13.46	61	88
31866	43.30	46.50	41.60	44.38	40.00	-4.38	0.00	0.26	-13.41	61	88
31916	43.50	46.20	41.30	42.75	40.00	-2.75	0.00	1.63	-9.89	65	84
31966	43.70	45.80	42.70	45.79	40.00	-5.79	0.00	-3.04	-14.34	60	89
32016	43.30	46.70	42.40	46.09	40.00	-6.09	0.00	-0.30	-17.97	57	92
32066	43.40	46.40	41.70	44.29	40.00	-4.29	0.00	1.80	-14.66	60	89
32116	43.50	47.30	42.60	46.68	40.00	-6.68	0.00	-2.39	-17.65	57	92
32166	44.90	46.90	42.80	43.70	40.00	-3.70	0.00	2.98	-14.07	60	89
32216	44.70	47.10	41.70	40.87	40.00	-0.87	0.00	2.83	-5.43	69	80
32266	44.30	46.60	42.40	43.97	40.00	-3.97	0.00	-3.10	-8.81	66	83
32316	45.00	47.60	42.00	41.30	40.00	-1.30	0.00	2.67	-6.57	68	81
32366	45.20	47.30	43.20	44.36	40.00	-4.36	0.00	-3.05	-10.01	64	85
32416	44.40	48.10	43.70	47.72	40.00	-7.72	0.00	-3.36	-19.79	55	94
32466	44.50	46.90	43.90	46.63	40.00	-6.63	0.00	1.09	-20.97	54	95
32516	45.60	48.00	43.30	44.11	40.00	-4.11	0.00	2.52	-14.84	60	89
32566	45.10	47.50	43.50	45.58	40.00	-5.58	0.00	-1.47	-15.26	59	90
32616	44.60	48.00	43.30	46.70	40.00	-6.70	0.00	-1.13	-18.98	56	93
32666	45.10	48.30	43.20	45.57	40.00	-5.57	0.00	1.13	-17.85	57	92
32716	44.10	48.20	43.60	48.00	40.00	-8.00	0.00	-2.43	-21.58	53	96
32766	45.40	47.40	43.60	44.99	40.00	-4.99	0.00	3.02	-17.98	57	92
32816	44.30	47.50	43.70	47.22	40.00	-7.22	0.00	-2.23	-19.43	55	94
32866	44.80	47.90	42.80	44.92	40.00	-4.92	0.00	2.30	-17.06	57	92
32916	44.50	47.40	43.30	46.30	40.00	-6.30	0.00	-1.39	-17.53	57	92
32966	45.20	46.70	43.60	45.24	40.00	-5.24	0.00	1.06	-16.79	58	91
33016	43.60	47.40	42.10	45.71	40.00	-5.71	0.00	-0.46	-16.65	58	91
33066	44.20	47.30	42.60	45.38	40.00	-5.38	0.00	0.32	-16.47	58	91
33116	44.10	47.40	43.50	47.12	40.00	-7.12	0.00	-1.74	-19.63	55	94
33166	44.20	47.10	42.70	45.42	40.00	-5.42	0.00	1.71	-17.96	57	92
33216	43.40	47.80	42.50	47.17	40.00	-7.17	0.00	-1.76	-19.76	55	94
33266	44.50	47.20	41.60	41.33	40.00	-1.33	0.00	5.85	-9.83	65	84
33316	43.20	46.60	42.10	45.69	40.00	-5.69	0.00	-4.37	-12.71	62	87
33366	44.30	46.60	42.60	43.97	40.00	-3.97	0.00	1.72	-13.63	61	88
33416	43.80	45.80	42.50	44.56	40.00	-4.56	0.00	-0.59	-13.09	61	88
33466	43.50	46.50	42.80	46.13	40.00	-6.13	0.00	-1.57	-16.82	58	91
33516	43.50	45.80	42.60	45.20	40.00	-5.20	0.00	0.93	-16.53	58	91
33566	43.30	45.70	41.70	43.85	40.00	-3.85	0.00	1.35	-12.90	62	87
33616	42.40	46.10	42.00	45.98	40.00	-5.98	0.00	-2.13	-15.81	59	90
33666	43.10	46.00	42.00	45.10	40.00	-5.10	0.00	0.88	-16.19	58	91
33716	42.60	45.30	40.40	41.92	40.00	-1.92	0.00	3.18	-8.95	66	83
33766	42.60	45.30	40.40	41.92	40.00	-1.92	0.00	0.00	-5.76	69	80
33816	42.30	46.40	40.90	44.95	40.00	-4.95	0.00	-3.03	-11.82	63	86
33866	42.30	46.40	40.90	44.95	40.00	-4.95	0.00	0.00	-14.85	60	89
33916	42.30	44.20	41.90	44.08	40.00	-4.08	0.00	0.87	-13.12	61	88
33966	42.40	44.10	40.80	42.31	40.00	-2.31	0.00	1.77	-8.71	66	83
34016	41.50	45.50	41.10	45.43	40.00	-5.43	0.00	-3.12	-13.18	61	88
34066	41.50	44.50	41.40	44.49	40.00	-4.49	0.00	0.94	-14.42	60	89
34116	41.20	44.40	40.30	43.82	40.00	-3.82	0.00	0.67	-12.13	62	87
34166	40.70	44.10	40.40	44.04	40.00	-4.04	0.00	-0.22	-11.89	63	86
34216	40.40	43.90	39.90	43.72	40.00	-3.72	0.00	0.31	-11.48	63	86
34266	40.20	43.10	39.60	42.85	40.00	-2.85	0.00	0.87	-9.42	65	84
34316	40.00	43.10	40.00	43.10	40.00	-3.10	0.00	-0.25	-9.05	65	84
34366	40.30	43.20	39.10	42.20	40.00	-2.20	0.00	0.90	-7.50	67	82
34416	40.30	43.40	39.20	42.56	40.00	-2.56	0.00	-0.35	-7.31	67	82
34466	39.80	42.90	38.90	42.34	40.00	-2.34	0.00	0.22	-7.23	67	82
34516	39.20	42.40	37.70	40.88	40.00	-0.88	0.00	1.45	-4.11	70	79
34566	38.70	43.70	38.40	43.64	40.00	-3.64	0.00	-2.75	-8.16	66	83
34616	40.00	42.20	37.60	38.49	40.00	1.51	0.00	5.14	-0.62	74	75
34666	39.30	41.30	38.20	40.50	40.00	-0.50	0.00	-2.00	0.51	75	74
34716	38.40	42.80	37.50	42.24	40.00	-2.24	0.00	-1.74	-4.97	70	79
34766	37.90	41.80	36.90	41.13	40.00	-1.13	0.00	1.11	-4.49	70	79
34816	37.70	42.20	36.10	40.49	40.00	-0.49	0.00	0.64	-2.11	72	77
34866	37.70	41.40	36.10	39.72	40.00	0.28	0.00	0.77	0.07	75	74
34916	37.50	41.10	36.30	40.15	40.00	-0.15	0.00	-0.43	-0.02	74	75
34966	37.20	40.70	35.40	38.63	40.00	1.37	0.00	1.52	2.59	77	72
35016	37.00	39.20	37.20	39.17	40.00	0.83	0.00	-0.54	3.02	78	71
35066	37.40	40.10	34.90	36.30	40.00	3.70	0.00	2.87	8.23	83	66
35116	36.40	39.20	35.50	38.69	40.00	1.31	0.00	-2.39	6.33	81	68
35166	36.60	40.70	35.40	39.76	40.00	0.24	0.00	-1.07	1.79	76	73
35216	35.60	37.90	36.10	37.75	40.00	2.25	0.00	2.01	4.75	79	70
35266	37.10	39.80	34.30	35.15	40.00	4.85	0.00	2.59	11.95	86	63
35316	37.00	40.00	35.40	38.38	40.00	1.62	0.00	-3.23	8.09	83	66
35366	37.90	39.40	34.90	34.19	40.00	5.81	0.00	4.19	13.25	88	61
35416	37.70	41.00	34.80	35.90	40.00	4.10	0.00	-1.71	14.02	89	60
35466	37.00	41.10	35.30	39.23	40.00	0.77	0.00	-3.33	5.65	80	69
35516	37.40	40.40	35.60	38.34	40.00	1.66	0.00	0.88	4.08	79	70
35566	37.40	40.20	34.60	35.51	40.00	4.49	0.00	2.84	10.64	85	64
35616	37.40	40.20	34.60	35.51	40.00	4.49	0.00	0.00	13.48	88	61
35666	37.00	39.60	35.80	38.69	40.00	1.31	0.00	-3.18	7.12	82	67
35716	37.10	40.70	35.60	39.25	40.00	0.75	0.00	-0.56	2.82	77	72
35766	37.70	40.30	35.90	38.25	40.00	1.75	0.00	1.00	4.26	79	70
35816	37.10	40.50	34.80	37.22	40.00	2.78	0.00	1.03	7.32	82	67
35866	37.10	39.80	34.80	36.57	40.00	3.43	0.00	0.64	9.64	84	65
35916	36.80	39.50	35.60	38.59	40.00	1.41	0.00	-2.01	6.25	81	68
35966	37.20	40.70	35.00	37.66	40.00	2.34	0.00	0.92	6.08	81	68
36016	36.80	40.50	35.00	37.48	40.00	2.52	0.00	0.19	7.38	82	67

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TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 3.00 0.00 1.00

Msec LF LC LR Steer Deg Cos LCCorr Set Err SpinDeg

In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec LF LC LR LCCorr OffCm tErr LastI LastD Out Lspd Rspd

28916 40.10 40.30 38.80 39.21 40.00 0.79 0.00 0.79 1.58 76 73

28966 39.20 41.90 38.00 40.93 40.00 -0.93 0.00 -1.72 -1.07 73 76

29016 40.10 41.40 38.00 40.44 40.00 -0.44 0.00 0.49 -1.82 73 76

29066 40.10 41.40 37.60 37.48 40.00 2.52 0.00 2.97 4.60 79 70

29116 39.90 41.70 37.80 38.85 40.00 1.15 0.00 -1.37 4.82 79 70

29166 39.80 41.70 37.70 38.85 40.00 1.15 0.00 0.00 3.44 78 71

29216 39.60 41.10 37.90 39.23 40.00 0.77 0.00 -0.38 2.69 77 72

29266 39.90 41.80 37.90 39.20 40.00 0.80 0.00 0.03 2.38 77 72

29316 39.90 41.60 37.30 37.36 40.00 2.64 0.00 1.84 6.08 81 68

29366 40.10 42.10 37.90 38.96 40.00 1.04 0.00 -1.60 4.72 79 70

29416 40.10 41.70 38.60 40.21 40.00 -0.21 0.00 -1.25 0.62 75 74

29466 40.10 41.70 38.60 40.21 40.00 -0.21 0.00 0.00 -0.63 74 75

29516 41.10 41.80 38.90 38.68 40.00 1.32 0.00 1.53 2.43 77 72

29566 39.90 42.30 39.40 42.13 40.00 -2.13 0.00 -3.45 -2.94 72 77

29616 40.20 42.00 39.10 41.18 40.00 -1.18 0.00 0.95 -4.49 70 79

29666 40.00 42.80 38.40 41.07 40.00 -1.07 0.00 0.12 -3.31 71 78

29716 41.40 42.60 38.80 38.26 40.00 1.74 0.00 2.81 2.42 77 72

29766 40.10 41.90 38.80 40.77 40.00 -0.77 0.00 -2.51 0.21 75 74

29816 41.20 42.10 38.80 38.40 40.00 1.60 0.00 2.36 2.43 77 72

29866 41.30 42.90 38.80 39.13 40.00 0.87 0.00 -0.73 3.33 78 71

29916 41.30 42.90 38.30 37.22 40.00 2.78 0.00 1.91 6.42 81 68

29966 40.50 43.10 39.60 42.54 40.00 -2.54 0.00 -5.31 -2.30 72 77

30016 41.30 42.10 39.10 38.96 40.00 1.04 0.00 3.58 -0.46 74 75

30066 40.80 43.20 38.90 40.76 40.00 -0.76 0.00 -1.80 -0.48 74 75

30116 41.80 42.60 39.00 37.63 40.00 2.37 0.00 3.14 3.98 78 71

30166 41.20 43.00 39.90 41.84 40.00 -1.84 0.00 -4.21 -1.30 73 76

30216 41.40 43.80 38.90 39.65 40.00 0.35 0.00 2.19 -1.14 73 76

30266 41.50 44.40 38.60 38.87 40.00 1.13 0.00 0.77 2.60 77 72

30316 40.80 42.20 39.60 41.23 40.00 -1.23 0.00 -2.35 -1.32 73 76

30366 40.80 42.70 37.90 37.39 40.00 2.61 0.00 3.84 4.00 79 70

30416 40.90 43.30 39.30 41.55 40.00 -1.55 0.00 -4.16 -0.48 74 75

30466 41.30 43.50 38.30 37.74 40.00 2.26 0.00 3.80 2.97 77 72

30516 40.80 42.60 38.00 37.63 40.00 2.37 0.00 0.12 7.00 82 67

30566 40.80 42.80 38.30 38.74 40.00 1.26 0.00 -1.12 4.88 79 70

30616 40.30 42.60 38.40 40.20 40.00 -0.20 0.00 -1.45 0.86 75 74

30666 40.90 42.30 38.40 33.83 40.00 6.17 0.00 6.37 12.15 87 62

30716 41.90 44.00 39.10 38.86 40.00 1.14 0.00 -5.04 8.45 83 66

30766 41.60 44.20 40.20 42.82 40.00 -2.82 0.00 -3.96 -4.50 70 79

30816 41.50 44.00 39.20 40.43 40.00 -0.43 0.00 2.39 -3.68 71 78

30866 41.80 43.60 40.40 42.24 40.00 -2.24 0.00 -1.81 -4.91 70 79

30916 41.90 43.50 40.40 41.94 40.00 -1.94 0.00 0.29 -6.13 68 81

30966 41.70 44.40 41.40 44.33 40.00 -4.33 0.00 -2.39 -10.61 64 85

31016 41.50 44.40 40.30 43.37 40.00 -3.37 0.00 0.96 -11.08 63 86

31066 42.00 44.70 41.20 44.24 40.00 -4.24 0.00 -0.86 -11.85 63 86

31116 42.40 45.20 40.20 41.83 40.00 -1.83 0.00 2.41 -7.89 67 82

31166 42.70 44.40 40.80 41.89 40.00 -1.89 0.00 -0.07 -5.62 69 80

31216 42.40 44.90 40.20 41.55 40.00 -1.55 0.00 0.34 -5.00 70 79

31266 41.80 46.70 40.20 44.81 40.00 -4.81 0.00 -3.26 -11.17 63 86

31316 43.00 47.00 39.80 40.02 40.00 -0.02 0.00 4.79 -4.85 70 79

31366 42.80 44.90 41.30 43.29 40.00 -3.29 0.00 -3.27 -6.61 68 81

31416 42.60 46.40 40.20 42.33 40.00 -2.33 0.00 0.97 -7.95 67 82

31466 42.40 45.00 41.80 44.74 40.00 -4.74 0.00 -2.41 -11.80 63 86

31516 42.90 44.60 40.60 40.98 40.00 -0.98 0.00 3.75 -6.70 68 81

31566 43.50 45.00 40.80 40.08 40.00 -0.08 0.00 0.90 -1.15 73 76

31616 43.00 46.60 41.80 45.52 40.00 -5.52 0.00 -5.44 -11.13 63 86

31666 43.40 45.80 41.00 41.78 40.00 -1.78 0.00 3.75 -9.08 65 84

31716 43.30 45.60 40.20 39.20 40.00 0.80 0.00 2.58 -0.18 74 75

31766 42.90 45.60 41.50 44.18 40.00 -4.18 0.00 -4.97 -7.55 67 82

31816 42.80 45.70 41.60 44.64 40.00 -4.64 0.00 -0.47 -13.46 61 88

31866 43.30 46.50 41.60 44.38 40.00 -4.38 0.00 0.26 -13.41 61 88

31916 43.50 46.20 41.30 42.75 40.00 -2.75 0.00 1.63 -9.89 65 84

31966 43.70 45.80 42.70 45.79 40.00 -5.79 0.00 -3.04 -14.34 60 89

32016 43.30 46.70 42.40 46.09 40.00 -6.09 0.00 -0.30 -17.97 57 92

32066 43.40 46.40 41.70 44.29 40.00 -4.29 0.00 1.80 -14.66 60 89

32116 43.50 47.30 42.60 46.68 40.00 -6.68 0.00 -2.39 -17.65 57 92

32166 44.90 46.90 42.80 43.70 40.00 -3.70 0.00 2.98 -14.07 60 89

32216 44.70 47.10 41.70 40.87 40.00 -0.87 0.00 2.83 -5.43 69 80

32266 44.30 46.60 42.40 43.97 40.00 -3.97 0.00 -3.10 -8.81 66 83

32316 45.00 47.60 42.00 41.30 40.00 -1.30 0.00 2.67 -6.57 68 81

32366 45.20 47.30 43.20 44.36 40.00 -4.36 0.00 -3.05 -10.01 64 85

32416 44.40 48.10 43.70 47.72 40.00 -7.72 0.00 -3.36 -19.79 55 94

32466 44.50 46.90 43.90 46.63 40.00 -6.63 0.00 1.09 -20.97 54 95

32516 45.60 48.00 43.30 44.11 40.00 -4.11 0.00 2.52 -14.84 60 89

32566 45.10 47.50 43.50 45.58 40.00 -5.58 0.00 -1.47 -15.26 59 90

32616 44.60 48.00 43.30 46.70 40.00 -6.70 0.00 -1.13 -18.98 56 93

32666 45.10 48.30 43.20 45.57 40.00 -5.57 0.00 1.13 -17.85 57 92

32716 44.10 48.20 43.60 48.00 40.00 -8.00 0.00 -2.43 -21.58 53 96

32766 45.40 47.40 43.60 44.99 40.00 -4.99 0.00 3.02 -17.98 57 92

32816 44.30 47.50 43.70 47.22 40.00 -7.22 0.00 -2.23 -19.43 55 94

32866 44.80 47.90 42.80 44.92 40.00 -4.92 0.00 2.30 -17.06 57 92

32916 44.50 47.40 43.30 46.30 40.00 -6.30 0.00 -1.39 -17.53 57 92

32966 45.20 46.70 43.60 45.24 40.00 -5.24 0.00 1.06 -16.79 58 91

33016 43.60 47.40 42.10 45.71 40.00 -5.71 0.00 -0.46 -16.65 58 91

33066 44.20 47.30 42.60 45.38 40.00 -5.38 0.00 0.32 -16.47 58 91

33116 44.10 47.40 43.50 47.12 40.00 -7.12 0.00 -1.74 -19.63 55 94

33166 44.20 47.10 42.70 45.42 40.00 -5.42 0.00 1.71 -17.96 57 92

33216 43.40 47.80 42.50 47.17 40.00 -7.17 0.00 -1.76 -19.76 55 94

33266 44.50 47.20 41.60 41.33 40.00 -1.33 0.00 5.85 -9.83 65 84

33316 43.20 46.60 42.10 45.69 40.00 -5.69 0.00 -4.37 -12.71 62 87

33366 44.30 46.60 42.60 43.97 40.00 -3.97 0.00 1.72 -13.63 61 88

33416 43.80 45.80 42.50 44.56 40.00 -4.56 0.00 -0.59 -13.09 61 88

33466 43.50 46.50 42.80 46.13 40.00 -6.13 0.00 -1.57 -16.82 58 91

33516 43.50 45.80 42.60 45.20 40.00 -5.20 0.00 0.93 -16.53 58 91

33566 43.30 45.70 41.70 43.85 40.00 -3.85 0.00 1.35 -12.90 62 87

33616 42.40 46.10 42.00 45.98 40.00 -5.98 0.00 -2.13 -15.81 59 90

33666 43.10 46.00 42.00 45.10 40.00 -5.10 0.00 0.88 -16.19 58 91

33716 42.60 45.30 40.40 41.92 40.00 -1.92 0.00 3.18 -8.95 66 83

33766 42.60 45.30 40.40 41.92 40.00 -1.92 0.00 0.00 -5.76 69 80

33816 42.30 46.40 40.90 44.95 40.00 -4.95 0.00 -3.03 -11.82 63 86

33866 42.30 46.40 40.90 44.95 40.00 -4.95 0.00 0.00 -14.85 60 89

33916 42.30 44.20 41.90 44.08 40.00 -4.08 0.00 0.87 -13.12 61 88

33966 42.40 44.10 40.80 42.31 40.00 -2.31 0.00 1.77 -8.71 66 83

34016 41.50 45.50 41.10 45.43 40.00 -5.43 0.00 -3.12 -13.18 61 88

34066 41.50 44.50 41.40 44.49 40.00 -4.49 0.00 0.94 -14.42 60 89

34116 41.20 44.40 40.30 43.82 40.00 -3.82 0.00 0.67 -12.13 62 87

34166 40.70 44.10 40.40 44.04 40.00 -4.04 0.00 -0.22 -11.89 63 86

34216 40.40 43.90 39.90 43.72 40.00 -3.72 0.00 0.31 -11.48 63 86

34266 40.20 43.10 39.60 42.85 40.00 -2.85 0.00 0.87 -9.42 65 84

34316 40.00 43.10 40.00 43.10 40.00 -3.10 0.00 -0.25 -9.05 65 84

34366 40.30 43.20 39.10 42.20 40.00 -2.20 0.00 0.90 -7.50 67 82

34416 40.30 43.40 39.20 42.56 40.00 -2.56 0.00 -0.35 -7.31 67 82

34466 39.80 42.90 38.90 42.34 40.00 -2.34 0.00 0.22 -7.23 67 82

34516 39.20 42.40 37.70 40.88 40.00 -0.88 0.00 1.45 -4.11 70 79

34566 38.70 43.70 38.40 43.64 40.00 -3.64 0.00 -2.75 -8.16 66 83

34616 40.00 42.20 37.60 38.49 40.00 1.51 0.00 5.14 -0.62 74 75

34666 39.30 41.30 38.20 40.50 40.00 -0.50 0.00 -2.00 0.51 75 74

34716 38.40 42.80 37.50 42.24 40.00 -2.24 0.00 -1.74 -4.97 70 79

34766 37.90 41.80 36.90 41.13 40.00 -1.13 0.00 1.11 -4.49 70 79

34816 37.70 42.20 36.10 40.49 40.00 -0.49 0.00 0.64 -2.11 72 77

34866 37.70 41.40 36.10 39.72 40.00 0.28 0.00 0.77 0.07 75 74

34916 37.50 41.10 36.30 40.15 40.00 -0.15 0.00 -0.43 -0.02 74 75

34966 37.20 40.70 35.40 38.63 40.00 1.37 0.00 1.52 2.59 77 72

35016 37.00 39.20 37.20 39.17 40.00 0.83 0.00 -0.54 3.02 78 71

35066 37.40 40.10 34.90 36.30 40.00 3.70 0.00 2.87 8.23 83 66

35116 36.40 39.20 35.50 38.69 40.00 1.31 0.00 -2.39 6.33 81 68

35166 36.60 40.70 35.40 39.76 40.00 0.24 0.00 -1.07 1.79 76 73

35216 35.60 37.90 36.10 37.75 40.00 2.25 0.00 2.01 4.75 79 70

35266 37.10 39.80 34.30 35.15 40.00 4.85 0.00 2.59 11.95 86 63

35316 37.00 40.00 35.40 38.38 40.00 1.62 0.00 -3.23 8.09 83 66

35366 37.90 39.40 34.90 34.19 40.00 5.81 0.00 4.19 13.25 88 61

35416 37.70 41.00 34.80 35.90 40.00 4.10 0.00 -1.71 14.02 89 60

35466 37.00 41.10 35.30 39.23 40.00 0.77 0.00 -3.33 5.65 80 69

35516 37.40 40.40 35.60 38.34 40.00 1.66 0.00 0.88 4.08 79 70

35566 37.40 40.20 34.60 35.51 40.00 4.49 0.00 2.84 10.64 85 64

35616 37.40 40.20 34.60 35.51 40.00 4.49 0.00 0.00 13.48 88 61

35666 37.00 39.60 35.80 38.69 40.00 1.31 0.00 -3.18 7.12 82 67

35716 37.10 40.70 35.60 39.25 40.00 0.75 0.00 -0.56 2.82 77 72

35766 37.70 40.30 35.90 38.25 40.00 1.75 0.00 1.00 4.26 79 70

35816 37.10 40.50 34.80 37.22 40.00 2.78 0.00 1.03 7.32 82 67

35866 37.10 39.80 34.80 36.57 40.00 3.43 0.00 0.64 9.64 84 65

35916 36.80 39.50 35.60 38.59 40.00 1.41 0.00 -2.01 6.25 81 68

35966 37.20 40.70 35.00 37.66 40.00 2.34 0.00 0.92 6.08 81 68

36016 36.80 40.50 35.00 37.48 40.00 2.52 0.00 0.19 7.38 82 67

So, the ‘steering value tweaked by offset error’ method works on a straight wall with a PID of (3,0,1). This result is consistent with my 11 January 2023 Update of my ‘WallE3 Wall Tracking Revisited‘ post, which I think was done with WallE3_WallTrackTuning_V5 (too many changes for my poor brain to follow).

Unfortunately, as soon as I put breaks in the wall, the robot could no longer follow it. It runs into the same problems; the robot senses a significant change in distance, starts to turn to minimize the distance, but the distance continues to go in the wrong direction due to the change in the robot’s orientation. This feedback continues until the robot is completely orthogonal to the wall.

26 January 2023 Update:

I went back and reviewed the post that contained the successful 30 October 2022 ‘two 30deg wall breaks’ run, and found that the run was made with the following wall following code:

{
	digitalToggle(RED_LASER_DIODE_PIN); //10/24/22 toggle duration measurement pulse
	mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

	//03/08/22 abstracted these calls to UpdateAllEnvironmentParameters()
	UpdateAllEnvironmentParameters();//03/08/22 added to consolidate sensor update calls

	//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post
	float orientdeg = GetWallOrientDeg(glLeftSteeringVal);
	float orientrad = (PI / 180.f) * orientdeg; 
	float orientcos = cosf(orientrad);
	glLeftCentCorrCm = glLeftCenterCm * orientcos;

	if (!isnan(glLeftCentCorrCm))
	{
	  //gl_pSerPort->printf("just before PIDCalcs call: WallTrackSetPoint  = %2.2f\n", WallTrackSetPoint);
	  WallTrackOutput = PIDCalcs(glLeftCentCorrCm, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,
		kp, ki, kd);

	  //04/05/22 have to use local var here, as result could be negative
	  int16_t leftSpdnum = MOTOR_SPEED_QTR + WallTrackOutput;
	  int16_t rightSpdnum = MOTOR_SPEED_QTR - WallTrackOutput;

	  //04/05/22 Left/rightSpdnum can be negative here - watch out!
	  rightSpdnum = (rightSpdnum <= MOTOR_SPEED_HALF) ? rightSpdnum : MOTOR_SPEED_HALF; //result can still be neg
	  glRightspeednum = (rightSpdnum > 0) ? rightSpdnum : 0; //result here must be positive
	  leftSpdnum = (leftSpdnum <= MOTOR_SPEED_HALF) ? leftSpdnum : MOTOR_SPEED_HALF;//result can still be neg
	  glLeftspeednum = (leftSpdnum > 0) ? leftSpdnum : 0; //result here must be positive

	  MoveAhead(glLeftspeednum, glRightspeednum);

	  gl_pSerPort->printf(WallFollowTelemStr, millis(),
		glLeftFrontCm, glLeftCenterCm, glLeftRearCm, 
		glLeftSteeringVal, orientdeg, orientcos, glLeftCentCorrCm,
		WallTrackSetPoint, lastError, WallTrackOutput,
		glLeftspeednum, glRightspeednum);
}
digitalToggle(RED_LASER_DIODE_PIN); //10/24/22 toggle duration measurement pulse

{

digitalToggle(RED_LASER_DIODE_PIN); //10/24/22 toggle duration measurement pulse

mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

//03/08/22 abstracted these calls to UpdateAllEnvironmentParameters()

UpdateAllEnvironmentParameters();//03/08/22 added to consolidate sensor update calls

//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post

float orientdeg = GetWallOrientDeg(glLeftSteeringVal);

float orientrad = (PI / 180.f) * orientdeg;

float orientcos = cosf(orientrad);

glLeftCentCorrCm = glLeftCenterCm * orientcos;

if (!isnan(glLeftCentCorrCm))

{

//gl_pSerPort->printf("just before PIDCalcs call: WallTrackSetPoint = %2.2f\n", WallTrackSetPoint);

WallTrackOutput = PIDCalcs(glLeftCentCorrCm, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

//04/05/22 have to use local var here, as result could be negative

int16_t leftSpdnum = MOTOR_SPEED_QTR + WallTrackOutput;

int16_t rightSpdnum = MOTOR_SPEED_QTR - WallTrackOutput;

//04/05/22 Left/rightSpdnum can be negative here - watch out!

rightSpdnum = (rightSpdnum <= MOTOR_SPEED_HALF) ? rightSpdnum : MOTOR_SPEED_HALF; //result can still be neg

glRightspeednum = (rightSpdnum > 0) ? rightSpdnum : 0; //result here must be positive

leftSpdnum = (leftSpdnum <= MOTOR_SPEED_HALF) ? leftSpdnum : MOTOR_SPEED_HALF;//result can still be neg

glLeftspeednum = (leftSpdnum > 0) ? leftSpdnum : 0; //result here must be positive

MoveAhead(glLeftspeednum, glRightspeednum);

gl_pSerPort->printf(WallFollowTelemStr, millis(),

glLeftFrontCm, glLeftCenterCm, glLeftRearCm,

glLeftSteeringVal, orientdeg, orientcos, glLeftCentCorrCm,

WallTrackSetPoint, lastError, WallTrackOutput,

glLeftspeednum, glRightspeednum);

}

digitalToggle(RED_LASER_DIODE_PIN); //10/24/22 toggle duration measurement pulse

As can be seen from the above, the line

WallTrackOutput = PIDCalcs(glLeftCentCorrCm, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,
            kp, ki, kd);

1 2	WallTrackOutput = PIDCalcs(glLeftCentCorrCm, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror, kp, ki, kd);

Compares the orientation-corrected wall distance to the desired offset distance, as opposed to comparing the computed steering value to a desired steering value of zero, with a ‘fudge factor’ of the distance error divided by 10 as shown below:

//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post
  glLeftCentCorrCm = CorrDistForOrient(glLeftCenterCm, glLeftSteeringVal);
  float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f;
  WallTrackSteerVal = glLeftSteeringVal + offset_factor;

//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post

glLeftCentCorrCm = CorrDistForOrient(glLeftCenterCm, glLeftSteeringVal);

float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f;

WallTrackSteerVal = glLeftSteeringVal + offset_factor;

So, I modified WallE3_WallTrackTuning_V5 to use the above algorithm to see if I could reproduce the successful ‘two breaks’ tracking run.

Well, the answer was “NO” – I couldn’t reproduce the successful ‘two breaks’ tracking run – not even close – grrr!!

So, as kind of a ‘Hail Mary’ move, I went back to WallE3_WallTrack_V2, which I vaguely remember as the source of the successful ‘two break’ run, and tried it without modification. Lo and Behold – IT WORKED! Whew, I was beginning to wonder if maybe (despite having a video) it was all a dream!

So, now I have a baseline – yes!!! Here’s the output and video from a successful ‘two break’ run:

TrackLeftWallOffset: Start tracking offset of 40.00cm with Kp/Ki/Kd = 300.00	0.00	0.00
Msec	Fdir	Cdir	Rdir	Steer	Set	error	Ival	Kp*err	Ki*Ival	Kd*Din	Output	Lspd	Rspd
15682 	405	436	405 	0.04	0.00	-0.04	0.00 	-10.80	0.00	-0.00 	-10.80	64	85
15732 	406	440	401 	0.09	0.00	-0.09	0.00 	-27.00	0.00	-0.00 	-27.00	48	102
15782 	414	437	402 	0.16	0.00	-0.16	0.00 	-47.10	0.00	-0.00 	-47.10	27	122
15832 	406	433	402 	0.07	0.00	-0.07	0.00 	-21.90	0.00	0.00 	-21.90	53	96
15882 	401	430	399 	0.05	0.00	-0.05	0.00 	-15.00	0.00	0.00 	-15.00	60	90
15932 	408	431	404 	0.07	0.00	-0.07	0.00 	-21.30	0.00	-0.00 	-21.30	53	96
15982 	406	420	408 	0.00	0.00	0.00	0.00 	0.00	0.00	0.00 	0.00	75	75
16032 	409	435	405 	0.08	0.00	-0.08	0.00 	-22.50	0.00	-0.00 	-22.50	52	97
16082 	409	435	405 	0.08	0.00	-0.08	0.00 	-22.50	0.00	0.00 	-22.50	52	97
16132 	413	427	410 	0.06	0.00	-0.06	0.00 	-17.10	0.00	0.00 	-17.10	57	92
16182 	403	426	405 	0.01	0.00	-0.01	0.00 	-1.80	0.00	0.00 	-1.80	73	76
16232 	391	425	403 	-0.09	0.00	0.09	0.00 	28.50	0.00	0.00 	28.50	103	46
16282 	397	420	399 	0.00	0.00	0.00	0.00 	0.00	0.00	-0.00 	0.00	75	75
16332 	384	415	393 	-0.08	0.00	0.08	0.00 	22.50	0.00	0.00 	22.50	97	52
16382 	381	407	392 	-0.10	0.00	0.10	0.00 	30.90	0.00	0.00 	30.90	105	44
16432 	387	401	387 	0.00	0.00	-0.00	0.00 	-0.30	0.00	-0.00 	-0.30	74	75
16482 	372	395	371 	0.00	0.00	-0.00	0.00 	-1.50	0.00	-0.00 	-1.50	73	76
16532 	372	395	371 	0.00	0.00	-0.00	0.00 	-1.50	0.00	0.00 	-1.50	73	76
16582 	364	382	372 	-0.10	0.00	0.10	0.00 	29.40	0.00	0.00 	29.40	104	45
16632 	357	387	369 	-0.13	0.00	0.13	0.00 	39.90	0.00	0.00 	39.90	114	35
16682 	351	376	362 	-0.13	0.00	0.13	0.00 	40.20	0.00	0.00 	40.20	115	34
16732 	349	370	358 	-0.12	0.00	0.12	0.00 	36.00	0.00	-0.00 	36.00	111	39
16782 	346	360	348 	-0.06	0.00	0.06	0.00 	18.00	0.00	-0.00 	18.00	93	57
16832 	344	355	344 	-0.05	0.00	0.05	0.00 	13.50	0.00	-0.00 	13.50	88	61
16882 	331	352	343 	-0.17	0.00	0.17	0.00 	50.40	0.00	0.00 	50.40	125	24
16932 	336	345	333 	-0.03	0.00	0.03	0.00 	7.50	0.00	-0.00 	7.50	82	67
16982 	326	343	339 	-0.19	0.00	0.19	0.00 	56.10	0.00	0.00 	56.10	131	18
17032 	329	337	327 	-0.04	0.00	0.04	0.00 	12.90	0.00	-0.00 	12.90	87	62
17082 	324	335	326 	-0.08	0.00	0.08	0.00 	25.50	0.00	0.00 	25.50	100	49
17132 	330	343	319 	0.05	0.00	-0.05	0.00 	-15.90	0.00	-0.00 	-15.90	59	90
17182 	341	357	319 	0.18	0.00	-0.18	0.00 	-53.10	0.00	-0.00 	-53.10	21	128
17232 	355	382	334 	0.20	0.00	-0.20	0.00 	-60.60	0.00	-0.00 	-60.60	14	135
17282 	363	394	345 	0.17	0.00	-0.17	0.00 	-52.20	0.00	0.00 	-52.20	22	127
17332 	369	394	357 	0.11	0.00	-0.11	0.00 	-34.20	0.00	0.00 	-34.20	40	109
17382 	377	398	365 	0.12	0.00	-0.12	0.00 	-35.40	0.00	-0.00 	-35.40	39	110
17432 	392	403	369 	0.23	0.00	-0.23	0.00 	-69.90	0.00	-0.00 	-69.90	5	144
17482 	384	407	367 	0.18	0.00	-0.18	0.00 	-53.10	0.00	0.00 	-53.10	21	128
17532 	389	406	375 	0.15	0.00	-0.15	0.00 	-43.80	0.00	0.00 	-43.80	31	118
17582 	382	407	375 	0.08	0.00	-0.08	0.00 	-23.10	0.00	0.00 	-23.10	51	98
17632 	383	409	383 	0.01	0.00	-0.01	0.00 	-2.70	0.00	0.00 	-2.70	72	77
17682 	381	404	384 	-0.03	0.00	0.03	0.00 	7.80	0.00	0.00 	7.80	82	67
17732 	382	408	382 	0.01	0.00	-0.01	0.00 	-2.40	0.00	-0.00 	-2.40	72	77
17782 	397	419	382 	0.17	0.00	-0.17	0.00 	-50.70	0.00	-0.00 	-50.70	24	125
17832 	393	404	380 	0.13	0.00	-0.13	0.00 	-40.20	0.00	0.00 	-40.20	34	115
17882 	389	406	387 	0.03	0.00	-0.03	0.00 	-7.80	0.00	0.00 	-7.80	67	82
17932 	396	417	390 	0.08	0.00	-0.08	0.00 	-23.10	0.00	-0.00 	-23.10	51	98
17982 	396	407	390 	0.07	0.00	-0.07	0.00 	-20.10	0.00	0.00 	-20.10	54	95
18032 	388	418	389 	0.01	0.00	-0.01	0.00 	-2.40	0.00	0.00 	-2.40	72	77
18082 	385	404	386 	-0.01	0.00	0.01	0.00 	1.80	0.00	0.00 	1.80	76	73
18132 	385	405	388 	-0.02	0.00	0.02	0.00 	7.50	0.00	0.00 	7.50	82	67
18182 	388	407	386 	0.03	0.00	-0.03	0.00 	-8.10	0.00	-0.00 	-8.10	66	83
18232 	380	399	383 	-0.03	0.00	0.03	0.00 	9.30	0.00	0.00 	9.30	84	65
18282 	383	398	383 	-0.00	0.00	0.00	0.00 	0.60	0.00	-0.00 	0.60	75	74
18332 	379	399	386 	-0.07	0.00	0.07	0.00 	21.30	0.00	0.00 	21.30	96	53
18382 	379	398	383 	-0.06	0.00	0.06	0.00 	18.60	0.00	-0.00 	18.60	93	56
18432 	381	400	381 	0.00	0.00	0.00	0.00 	0.00	0.00	-0.00 	0.00	75	75
18482 	376	395	377 	-0.01	0.00	0.01	0.00 	4.50	0.00	0.00 	4.50	79	70
18532 	377	399	375 	0.02	0.00	-0.02	0.00 	-5.70	0.00	-0.00 	-5.70	69	80
18582 	372	400	372 	0.00	0.00	0.00	0.00 	0.00	0.00	0.00 	0.00	75	75
18632 	376	399	373 	-0.03	0.00	0.03	0.00 	9.30	0.00	0.00 	9.30	84	65
18682 	374	395	376 	-0.02	0.00	0.02	0.00 	7.50	0.00	-0.00 	7.50	82	67
18732 	374	395	376 	-0.02	0.00	0.02	0.00 	7.50	0.00	0.00 	7.50	82	67
18782 	377	402	380 	-0.03	0.00	0.03	0.00 	8.40	0.00	0.00 	8.40	83	66
18832 	378	398	370 	0.08	0.00	-0.08	0.00 	-23.40	0.00	-0.00 	-23.40	51	98
18882 	377	393	377 	-0.01	0.00	0.01	0.00 	2.10	0.00	0.00 	2.10	77	72
18932 	377	393	377 	-0.01	0.00	0.01	0.00 	2.10	0.00	0.00 	2.10	77	72
18982 	381	403	371 	0.10	0.00	-0.10	0.00 	-30.90	0.00	-0.00 	-30.90	44	105
19032 	384	403	371 	0.10	0.00	-0.10	0.00 	-30.90	0.00	0.00 	-30.90	44	105
19082 	384	395	383 	0.00	0.00	-0.00	0.00 	-1.50	0.00	0.00 	-1.50	73	76
19132 	381	409	377 	0.05	0.00	-0.05	0.00 	-14.70	0.00	-0.00 	-14.70	60	89
19182 	381	395	381 	-0.00	0.00	0.00	0.00 	1.50	0.00	0.00 	1.50	76	73
19232 	384	399	377 	0.07	0.00	-0.07	0.00 	-20.70	0.00	-0.00 	-20.70	54	95
19282 	377	404	380 	-0.03	0.00	0.03	0.00 	7.80	0.00	0.00 	7.80	82	67
19332 	385	404	380 	-0.03	0.00	0.03	0.00 	7.80	0.00	0.00 	7.80	82	67
19382 	377	408	379 	-0.01	0.00	0.01	0.00 	3.60	0.00	-0.00 	3.60	78	71
19432 	381	405	380 	0.01	0.00	-0.01	0.00 	-4.50	0.00	-0.00 	-4.50	70	79
19482 	384	405	380 	0.04	0.00	-0.04	0.00 	-13.50	0.00	-0.00 	-13.50	61	88
19532 	381	407	385 	-0.03	0.00	0.03	0.00 	9.90	0.00	0.00 	9.90	84	65
19582 	384	404	381 	0.03	0.00	-0.03	0.00 	-10.20	0.00	-0.00 	-10.20	64	85
19632 	384	401	379 	0.05	0.00	-0.05	0.00 	-15.30	0.00	-0.00 	-15.30	59	90
19682 	383	404	382 	0.01	0.00	-0.01	0.00 	-4.20	0.00	0.00 	-4.20	70	79
19732 	388	410	383 	0.06	0.00	-0.06	0.00 	-18.00	0.00	-0.00 	-18.00	57	93
19782 	379	405	383 	-0.04	0.00	0.04	0.00 	10.50	0.00	0.00 	10.50	85	64
19832 	370	400	383 	-0.13	0.00	0.13	0.00 	39.00	0.00	0.00 	39.00	114	36
19882 	356	374	380 	-0.27	0.00	0.27	0.00 	79.80	0.00	0.00 	79.80	154	0
19932 	348	378	364 	-0.18	0.00	0.18	0.00 	54.60	0.00	-0.00 	54.60	129	20
19982 	331	357	353 	-0.26	0.00	0.26	0.00 	78.90	0.00	0.00 	78.90	153	0
20032 	329	340	353 	-0.30	0.00	0.30	0.00 	90.00	0.00	0.00 	90.00	165	0
20082 	324	337	345 	-0.27	0.00	0.27	0.00 	81.90	0.00	-0.00 	81.90	156	0
20132 	305	324	326 	-0.29	0.00	0.29	0.00 	85.80	0.00	0.00 	85.80	160	0
20182 	297	318	317 	-0.28	0.00	0.28	0.00 	84.60	0.00	-0.00 	84.60	159	0
20232 	299	313	302 	-0.12	0.00	0.12	0.00 	35.10	0.00	-0.00 	35.10	110	39
20282 	297	301	297 	-0.10	0.00	0.10	0.00 	29.70	0.00	-0.00 	29.70	104	45
20332 	298	303	292 	-0.04	0.00	0.04	0.00 	11.10	0.00	-0.00 	11.10	86	63
20382 	305	305	292 	0.03	0.00	-0.03	0.00 	-10.50	0.00	-0.00 	-10.50	64	85
20432 	318	322	304 	0.06	0.00	-0.06	0.00 	-18.60	0.00	-0.00 	-18.60	56	93
20482 	331	326	310 	0.14	0.00	-0.14	0.00 	-40.80	0.00	-0.00 	-40.80	34	115
20532 	331	326	310 	0.14	0.00	-0.14	0.00 	-40.80	0.00	0.00 	-40.80	34	115
20582 	335	335	319 	0.09	0.00	-0.09	0.00 	-28.50	0.00	0.00 	-28.50	46	103
20632 	339	348	321 	0.13	0.00	-0.13	0.00 	-38.40	0.00	-0.00 	-38.40	36	113
20682 	344	357	330 	0.10	0.00	-0.10	0.00 	-29.10	0.00	0.00 	-29.10	45	104
20732 	347	365	342 	0.02	0.00	-0.02	0.00 	-4.50	0.00	0.00 	-4.50	70	79
20782 	356	369	339 	0.14	0.00	-0.14	0.00 	-41.70	0.00	-0.00 	-41.70	33	116
20832 	358	370	348 	0.07	0.00	-0.07	0.00 	-21.00	0.00	0.00 	-21.00	54	96
20882 	354	378	352 	-0.00	0.00	0.00	0.00 	0.60	0.00	0.00 	0.60	75	74
20932 	359	378	352 	-0.00	0.00	0.00	0.00 	0.60	0.00	0.00 	0.60	75	74
20982 	359	385	354 	0.04	0.00	-0.04	0.00 	-10.50	0.00	-0.00 	-10.50	64	85
21032 	361	380	352 	0.07	0.00	-0.07	0.00 	-21.00	0.00	-0.00 	-21.00	54	96
21082 	361	387	360 	-0.00	0.00	0.00	0.00 	0.90	0.00	0.00 	0.90	75	74
21132 	371	384	360 	0.09	0.00	-0.09	0.00 	-28.20	0.00	-0.00 	-28.20	46	103
21182 	375	399	369 	0.06	0.00	-0.06	0.00 	-17.70	0.00	0.00 	-17.70	57	92
21232 	381	404	381 	0.00	0.00	-0.00	0.00 	-1.20	0.00	0.00 	-1.20	73	76
21282 	379	403	373 	0.06	0.00	-0.06	0.00 	-18.90	0.00	-0.00 	-18.90	56	93
21332 	390	403	371 	0.19	0.00	-0.19	0.00 	-57.90	0.00	-0.00 	-57.90	17	132
21382 	394	400	379 	0.15	0.00	-0.15	0.00 	-45.00	0.00	0.00 	-45.00	30	120
21432 	394	405	385 	0.10	0.00	-0.10	0.00 	-28.50	0.00	0.00 	-28.50	46	103
21482 	391	417	386 	0.07	0.00	-0.07	0.00 	-20.10	0.00	0.00 	-20.10	54	95
21532 	390	420	389 	0.03	0.00	-0.03	0.00 	-9.00	0.00	0.00 	-9.00	66	84
21582 	397	415	387 	0.12	0.00	-0.12	0.00 	-34.50	0.00	-0.00 	-34.50	40	109
21632 	397	414	396 	0.02	0.00	-0.02	0.00 	-7.20	0.00	0.00 	-7.20	67	82
21682 	396	416	388 	0.10	0.00	-0.10	0.00 	-28.80	0.00	-0.00 	-28.80	46	103
21732 	403	422	397 	0.08	0.00	-0.08	0.00 	-24.60	0.00	0.00 	-24.60	50	99
21782 	407	423	401 	0.08	0.00	-0.08	0.00 	-24.90	0.00	-0.00 	-24.90	50	99
21832 	402	427	402 	0.03	0.00	-0.03	0.00 	-8.10	0.00	0.00 	-8.10	66	83
21882 	397	434	392 	0.08	0.00	-0.08	0.00 	-25.20	0.00	-0.00 	-25.20	49	100
21932 	409	429	399 	0.13	0.00	-0.13	0.00 	-38.70	0.00	-0.00 	-38.70	36	113
21982 	408	430	414 	-0.03	0.00	0.03	0.00 	9.00	0.00	0.00 	9.00	84	66
22032 	403	428	400 	0.06	0.00	-0.06	0.00 	-17.40	0.00	-0.00 	-17.40	57	92
22082 	403	428	400 	0.06	0.00	-0.06	0.00 	-17.40	0.00	0.00 	-17.40	57	92
22132 	401	424	403 	0.00	0.00	-0.00	0.00 	-1.20	0.00	0.00 	-1.20	73	76
22182 	402	421	406 	-0.02	0.00	0.02	0.00 	5.70	0.00	0.00 	5.70	80	69
22232 	400	421	402 	0.00	0.00	-0.00	0.00 	-0.30	0.00	-0.00 	-0.30	74	75

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104

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106

107

108

109

110

111

112

113

114

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118

119

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125

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134

TrackLeftWallOffset: Start tracking offset of 40.00cm with Kp/Ki/Kd = 300.00 0.00 0.00

Msec Fdir Cdir Rdir Steer Set error Ival Kp*err Ki*Ival Kd*Din Output Lspd Rspd

15682 405 436 405 0.04 0.00 -0.04 0.00 -10.80 0.00 -0.00 -10.80 64 85

15732 406 440 401 0.09 0.00 -0.09 0.00 -27.00 0.00 -0.00 -27.00 48 102

15782 414 437 402 0.16 0.00 -0.16 0.00 -47.10 0.00 -0.00 -47.10 27 122

15832 406 433 402 0.07 0.00 -0.07 0.00 -21.90 0.00 0.00 -21.90 53 96

15882 401 430 399 0.05 0.00 -0.05 0.00 -15.00 0.00 0.00 -15.00 60 90

15932 408 431 404 0.07 0.00 -0.07 0.00 -21.30 0.00 -0.00 -21.30 53 96

15982 406 420 408 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 75 75

16032 409 435 405 0.08 0.00 -0.08 0.00 -22.50 0.00 -0.00 -22.50 52 97

16082 409 435 405 0.08 0.00 -0.08 0.00 -22.50 0.00 0.00 -22.50 52 97

16132 413 427 410 0.06 0.00 -0.06 0.00 -17.10 0.00 0.00 -17.10 57 92

16182 403 426 405 0.01 0.00 -0.01 0.00 -1.80 0.00 0.00 -1.80 73 76

16232 391 425 403 -0.09 0.00 0.09 0.00 28.50 0.00 0.00 28.50 103 46

16282 397 420 399 0.00 0.00 0.00 0.00 0.00 0.00 -0.00 0.00 75 75

16332 384 415 393 -0.08 0.00 0.08 0.00 22.50 0.00 0.00 22.50 97 52

16382 381 407 392 -0.10 0.00 0.10 0.00 30.90 0.00 0.00 30.90 105 44

16432 387 401 387 0.00 0.00 -0.00 0.00 -0.30 0.00 -0.00 -0.30 74 75

16482 372 395 371 0.00 0.00 -0.00 0.00 -1.50 0.00 -0.00 -1.50 73 76

16532 372 395 371 0.00 0.00 -0.00 0.00 -1.50 0.00 0.00 -1.50 73 76

16582 364 382 372 -0.10 0.00 0.10 0.00 29.40 0.00 0.00 29.40 104 45

16632 357 387 369 -0.13 0.00 0.13 0.00 39.90 0.00 0.00 39.90 114 35

16682 351 376 362 -0.13 0.00 0.13 0.00 40.20 0.00 0.00 40.20 115 34

16732 349 370 358 -0.12 0.00 0.12 0.00 36.00 0.00 -0.00 36.00 111 39

16782 346 360 348 -0.06 0.00 0.06 0.00 18.00 0.00 -0.00 18.00 93 57

16832 344 355 344 -0.05 0.00 0.05 0.00 13.50 0.00 -0.00 13.50 88 61

16882 331 352 343 -0.17 0.00 0.17 0.00 50.40 0.00 0.00 50.40 125 24

16932 336 345 333 -0.03 0.00 0.03 0.00 7.50 0.00 -0.00 7.50 82 67

16982 326 343 339 -0.19 0.00 0.19 0.00 56.10 0.00 0.00 56.10 131 18

17032 329 337 327 -0.04 0.00 0.04 0.00 12.90 0.00 -0.00 12.90 87 62

17082 324 335 326 -0.08 0.00 0.08 0.00 25.50 0.00 0.00 25.50 100 49

17132 330 343 319 0.05 0.00 -0.05 0.00 -15.90 0.00 -0.00 -15.90 59 90

17182 341 357 319 0.18 0.00 -0.18 0.00 -53.10 0.00 -0.00 -53.10 21 128

17232 355 382 334 0.20 0.00 -0.20 0.00 -60.60 0.00 -0.00 -60.60 14 135

17282 363 394 345 0.17 0.00 -0.17 0.00 -52.20 0.00 0.00 -52.20 22 127

17332 369 394 357 0.11 0.00 -0.11 0.00 -34.20 0.00 0.00 -34.20 40 109

17382 377 398 365 0.12 0.00 -0.12 0.00 -35.40 0.00 -0.00 -35.40 39 110

17432 392 403 369 0.23 0.00 -0.23 0.00 -69.90 0.00 -0.00 -69.90 5 144

17482 384 407 367 0.18 0.00 -0.18 0.00 -53.10 0.00 0.00 -53.10 21 128

17532 389 406 375 0.15 0.00 -0.15 0.00 -43.80 0.00 0.00 -43.80 31 118

17582 382 407 375 0.08 0.00 -0.08 0.00 -23.10 0.00 0.00 -23.10 51 98

17632 383 409 383 0.01 0.00 -0.01 0.00 -2.70 0.00 0.00 -2.70 72 77

17682 381 404 384 -0.03 0.00 0.03 0.00 7.80 0.00 0.00 7.80 82 67

17732 382 408 382 0.01 0.00 -0.01 0.00 -2.40 0.00 -0.00 -2.40 72 77

17782 397 419 382 0.17 0.00 -0.17 0.00 -50.70 0.00 -0.00 -50.70 24 125

17832 393 404 380 0.13 0.00 -0.13 0.00 -40.20 0.00 0.00 -40.20 34 115

17882 389 406 387 0.03 0.00 -0.03 0.00 -7.80 0.00 0.00 -7.80 67 82

17932 396 417 390 0.08 0.00 -0.08 0.00 -23.10 0.00 -0.00 -23.10 51 98

17982 396 407 390 0.07 0.00 -0.07 0.00 -20.10 0.00 0.00 -20.10 54 95

18032 388 418 389 0.01 0.00 -0.01 0.00 -2.40 0.00 0.00 -2.40 72 77

18082 385 404 386 -0.01 0.00 0.01 0.00 1.80 0.00 0.00 1.80 76 73

18132 385 405 388 -0.02 0.00 0.02 0.00 7.50 0.00 0.00 7.50 82 67

18182 388 407 386 0.03 0.00 -0.03 0.00 -8.10 0.00 -0.00 -8.10 66 83

18232 380 399 383 -0.03 0.00 0.03 0.00 9.30 0.00 0.00 9.30 84 65

18282 383 398 383 -0.00 0.00 0.00 0.00 0.60 0.00 -0.00 0.60 75 74

18332 379 399 386 -0.07 0.00 0.07 0.00 21.30 0.00 0.00 21.30 96 53

18382 379 398 383 -0.06 0.00 0.06 0.00 18.60 0.00 -0.00 18.60 93 56

18432 381 400 381 0.00 0.00 0.00 0.00 0.00 0.00 -0.00 0.00 75 75

18482 376 395 377 -0.01 0.00 0.01 0.00 4.50 0.00 0.00 4.50 79 70

18532 377 399 375 0.02 0.00 -0.02 0.00 -5.70 0.00 -0.00 -5.70 69 80

18582 372 400 372 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 75 75

18632 376 399 373 -0.03 0.00 0.03 0.00 9.30 0.00 0.00 9.30 84 65

18682 374 395 376 -0.02 0.00 0.02 0.00 7.50 0.00 -0.00 7.50 82 67

18732 374 395 376 -0.02 0.00 0.02 0.00 7.50 0.00 0.00 7.50 82 67

18782 377 402 380 -0.03 0.00 0.03 0.00 8.40 0.00 0.00 8.40 83 66

18832 378 398 370 0.08 0.00 -0.08 0.00 -23.40 0.00 -0.00 -23.40 51 98

18882 377 393 377 -0.01 0.00 0.01 0.00 2.10 0.00 0.00 2.10 77 72

18932 377 393 377 -0.01 0.00 0.01 0.00 2.10 0.00 0.00 2.10 77 72

18982 381 403 371 0.10 0.00 -0.10 0.00 -30.90 0.00 -0.00 -30.90 44 105

19032 384 403 371 0.10 0.00 -0.10 0.00 -30.90 0.00 0.00 -30.90 44 105

19082 384 395 383 0.00 0.00 -0.00 0.00 -1.50 0.00 0.00 -1.50 73 76

19132 381 409 377 0.05 0.00 -0.05 0.00 -14.70 0.00 -0.00 -14.70 60 89

19182 381 395 381 -0.00 0.00 0.00 0.00 1.50 0.00 0.00 1.50 76 73

19232 384 399 377 0.07 0.00 -0.07 0.00 -20.70 0.00 -0.00 -20.70 54 95

19282 377 404 380 -0.03 0.00 0.03 0.00 7.80 0.00 0.00 7.80 82 67

19332 385 404 380 -0.03 0.00 0.03 0.00 7.80 0.00 0.00 7.80 82 67

19382 377 408 379 -0.01 0.00 0.01 0.00 3.60 0.00 -0.00 3.60 78 71

19432 381 405 380 0.01 0.00 -0.01 0.00 -4.50 0.00 -0.00 -4.50 70 79

19482 384 405 380 0.04 0.00 -0.04 0.00 -13.50 0.00 -0.00 -13.50 61 88

19532 381 407 385 -0.03 0.00 0.03 0.00 9.90 0.00 0.00 9.90 84 65

19582 384 404 381 0.03 0.00 -0.03 0.00 -10.20 0.00 -0.00 -10.20 64 85

19632 384 401 379 0.05 0.00 -0.05 0.00 -15.30 0.00 -0.00 -15.30 59 90

19682 383 404 382 0.01 0.00 -0.01 0.00 -4.20 0.00 0.00 -4.20 70 79

19732 388 410 383 0.06 0.00 -0.06 0.00 -18.00 0.00 -0.00 -18.00 57 93

19782 379 405 383 -0.04 0.00 0.04 0.00 10.50 0.00 0.00 10.50 85 64

19832 370 400 383 -0.13 0.00 0.13 0.00 39.00 0.00 0.00 39.00 114 36

19882 356 374 380 -0.27 0.00 0.27 0.00 79.80 0.00 0.00 79.80 154 0

19932 348 378 364 -0.18 0.00 0.18 0.00 54.60 0.00 -0.00 54.60 129 20

19982 331 357 353 -0.26 0.00 0.26 0.00 78.90 0.00 0.00 78.90 153 0

20032 329 340 353 -0.30 0.00 0.30 0.00 90.00 0.00 0.00 90.00 165 0

20082 324 337 345 -0.27 0.00 0.27 0.00 81.90 0.00 -0.00 81.90 156 0

20132 305 324 326 -0.29 0.00 0.29 0.00 85.80 0.00 0.00 85.80 160 0

20182 297 318 317 -0.28 0.00 0.28 0.00 84.60 0.00 -0.00 84.60 159 0

20232 299 313 302 -0.12 0.00 0.12 0.00 35.10 0.00 -0.00 35.10 110 39

20282 297 301 297 -0.10 0.00 0.10 0.00 29.70 0.00 -0.00 29.70 104 45

20332 298 303 292 -0.04 0.00 0.04 0.00 11.10 0.00 -0.00 11.10 86 63

20382 305 305 292 0.03 0.00 -0.03 0.00 -10.50 0.00 -0.00 -10.50 64 85

20432 318 322 304 0.06 0.00 -0.06 0.00 -18.60 0.00 -0.00 -18.60 56 93

20482 331 326 310 0.14 0.00 -0.14 0.00 -40.80 0.00 -0.00 -40.80 34 115

20532 331 326 310 0.14 0.00 -0.14 0.00 -40.80 0.00 0.00 -40.80 34 115

20582 335 335 319 0.09 0.00 -0.09 0.00 -28.50 0.00 0.00 -28.50 46 103

20632 339 348 321 0.13 0.00 -0.13 0.00 -38.40 0.00 -0.00 -38.40 36 113

20682 344 357 330 0.10 0.00 -0.10 0.00 -29.10 0.00 0.00 -29.10 45 104

20732 347 365 342 0.02 0.00 -0.02 0.00 -4.50 0.00 0.00 -4.50 70 79

20782 356 369 339 0.14 0.00 -0.14 0.00 -41.70 0.00 -0.00 -41.70 33 116

20832 358 370 348 0.07 0.00 -0.07 0.00 -21.00 0.00 0.00 -21.00 54 96

20882 354 378 352 -0.00 0.00 0.00 0.00 0.60 0.00 0.00 0.60 75 74

20932 359 378 352 -0.00 0.00 0.00 0.00 0.60 0.00 0.00 0.60 75 74

20982 359 385 354 0.04 0.00 -0.04 0.00 -10.50 0.00 -0.00 -10.50 64 85

21032 361 380 352 0.07 0.00 -0.07 0.00 -21.00 0.00 -0.00 -21.00 54 96

21082 361 387 360 -0.00 0.00 0.00 0.00 0.90 0.00 0.00 0.90 75 74

21132 371 384 360 0.09 0.00 -0.09 0.00 -28.20 0.00 -0.00 -28.20 46 103

21182 375 399 369 0.06 0.00 -0.06 0.00 -17.70 0.00 0.00 -17.70 57 92

21232 381 404 381 0.00 0.00 -0.00 0.00 -1.20 0.00 0.00 -1.20 73 76

21282 379 403 373 0.06 0.00 -0.06 0.00 -18.90 0.00 -0.00 -18.90 56 93

21332 390 403 371 0.19 0.00 -0.19 0.00 -57.90 0.00 -0.00 -57.90 17 132

21382 394 400 379 0.15 0.00 -0.15 0.00 -45.00 0.00 0.00 -45.00 30 120

21432 394 405 385 0.10 0.00 -0.10 0.00 -28.50 0.00 0.00 -28.50 46 103

21482 391 417 386 0.07 0.00 -0.07 0.00 -20.10 0.00 0.00 -20.10 54 95

21532 390 420 389 0.03 0.00 -0.03 0.00 -9.00 0.00 0.00 -9.00 66 84

21582 397 415 387 0.12 0.00 -0.12 0.00 -34.50 0.00 -0.00 -34.50 40 109

21632 397 414 396 0.02 0.00 -0.02 0.00 -7.20 0.00 0.00 -7.20 67 82

21682 396 416 388 0.10 0.00 -0.10 0.00 -28.80 0.00 -0.00 -28.80 46 103

21732 403 422 397 0.08 0.00 -0.08 0.00 -24.60 0.00 0.00 -24.60 50 99

21782 407 423 401 0.08 0.00 -0.08 0.00 -24.90 0.00 -0.00 -24.90 50 99

21832 402 427 402 0.03 0.00 -0.03 0.00 -8.10 0.00 0.00 -8.10 66 83

21882 397 434 392 0.08 0.00 -0.08 0.00 -25.20 0.00 -0.00 -25.20 49 100

21932 409 429 399 0.13 0.00 -0.13 0.00 -38.70 0.00 -0.00 -38.70 36 113

21982 408 430 414 -0.03 0.00 0.03 0.00 9.00 0.00 0.00 9.00 84 66

22032 403 428 400 0.06 0.00 -0.06 0.00 -17.40 0.00 -0.00 -17.40 57 92

22082 403 428 400 0.06 0.00 -0.06 0.00 -17.40 0.00 0.00 -17.40 57 92

22132 401 424 403 0.00 0.00 -0.00 0.00 -1.20 0.00 0.00 -1.20 73 76

22182 402 421 406 -0.02 0.00 0.02 0.00 5.70 0.00 0.00 5.70 80 69

22232 400 421 402 0.00 0.00 -0.00 0.00 -0.30 0.00 -0.00 -0.30 74 75

Successful ‘two break’ run with WallE3_WallTrack_V2

And here is the wall tracking code for this run:

void TrackLeftWallOffset(float kp, float ki, float kd, float offsetCm)
{
  //Notes:
  //	06/21/21 modified to do a turn, then straight, then track 0 steer val

  mSecSinceLastWallTrackUpdate = 0;
  float lastError = 0;
  float lastInput = 0;
  float lastIval = 0;
  float lastDerror = 0;
  float spinRateDPS = 30;

  GetRequestedVL53l0xValues(VL53L0X_LEFT); //update glLeftSteeringVal

  myTeePrint.printf("\nIn TrackLeftWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

  //06/21/21 modified to do a turn, then straight, then track 0 steer val
  float cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(glLidar_LeftCenter / 10.f);//positive inside, negative outside desired offset
  myTeePrint.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",
    glLidar_LeftRear, glLidar_LeftCenter, glLidar_LeftFront, glLeftSteeringVal, cutAngleDeg);

  //07/05/21 implement min cut angle
  if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)
  {
    myTeePrint.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
    cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;
  }
  else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)
  {
    myTeePrint.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
    cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;
  }

  //get the steering angle from the steering value, for comparison to the computed cut angle
  //positive value means robot is oriented away from wall
  float SteerAngleDeg = GetSteeringAngle(glLeftSteeringVal);

  GetRequestedVL53l0xValues(VL53L0X_LEFT);
  myTeePrint.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
    glLidar_LeftRear, glLidar_LeftCenter, glLidar_LeftFront, glLeftSteeringVal, SteerAngleDeg, cutAngleDeg);
   
  //now decide which way to turn.
  int16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx
  if (cutAngleDeg > 0) //robot inside desired offset distance
  {
    if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg also > 0, have to turn CCW
    {
      myTeePrint.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg - Turn CCW to cut angle\n");
      SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
    }
    else //(SteerAngleDeg <= cutAngleDeg)// --> SteerAngleDeg could be < 0
    {
      myTeePrint.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");

      SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
    }

    fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx
  }
  else // cutAngleDeg < 0 --> robot outside desired offset distance
  {
    if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg may also be > 0
    {
      //robot turned too far toward wall
      myTeePrint.printf("CutAngDeg < 0, SteerAngleDeg > cutAngleDeg\n");
      SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
    }
    else// (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0
    {
      //robot turned to far away from wall
      myTeePrint.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");
      SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
    }

    fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx
  }

  myTeePrint.printf("fudgeFactorMM = %d\n", fudgeFactorMM);
  delay(1000);

  //adjust so offset capture occurs at correct perpendicular offset
  float adjfactor = cos(PI * cutAngleDeg / 180.f);
  float numerator = 10 * (float)WALL_OFFSET_TGTDIST_CM;
  float adjOffsetMM = (numerator / adjfactor);
  adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel. 
  myTeePrint.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, num = %2.2f, tgt dist = %2.2f\n",
    cutAngleDeg, adjfactor, numerator, adjOffsetMM);

  GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21
  long int err = glLidar_LeftFront - adjOffsetMM; //neg for inside going out, pos for outside going in
  long int prev_err = err;
  myTeePrint.printf("At start - err = prev_err = %ld\n", err, prev_err);

  SteerAngleDeg = GetSteeringAngle(glLeftSteeringVal);
  myTeePrint.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",
    glLidar_LeftRear, glLidar_LeftCenter, glLidar_LeftFront, glLeftSteeringVal, SteerAngleDeg, cutAngleDeg, err);


  myTeePrint.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tErr\tP_err\n");

  //TIMSK5 = 0; //turn off TIMER5 interrupts

  //09/05/21 rev to doublecheck robot position - might not need the forward motion section
  while (((cutAngleDeg > 0 && err < 0) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0
  {
    prev_err = err;

    //MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);
    MoveAhead(MOTOR_SPEED_FULL, MOTOR_SPEED_FULL);
    delay(100);
    glFrontdistval = GetFrontDistCm();
    GetRequestedVL53l0xValues(VL53L0X_ALL);
    err = glLidar_LeftFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist
    myTeePrint.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",
      millis(),
      glLidar_LeftFront, glLidar_LeftCenter, glLidar_LeftRear, glFrontdistval, glLidar_Rear, err, prev_err);
    CheckForUserInput();
  }

  //now turn back the same (unadjusted) amount
  myTeePrint.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);
  myTeePrint.printf("correct back to parallel\n");
  SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

  WallTrackSetPoint = 0; //moved here 6/22/21
  //TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

  myTeePrint.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);
  myTeePrint.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

  mSecSinceLastWallTrackUpdate = 0; //added 09/04/21
  while (true)
  {
    CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

    //now using TIMER5 100 mSec interrupt for timing
    //if (bTimeForNavUpdate)
    //{
    //	//mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;
    //	bTimeForNavUpdate = false;

    //09/04/21 back to elapsedMillis timing
    if (mSecSinceLastWallTrackUpdate > WALL_TRACK_UPDATE_INTERVAL_MSEC)
    {
      mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

      GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

      //have to weight value by both angle and wall offset
      WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

      //update motor speeds, skipping bad values
      if (!isnan(WallTrackSteerVal))
      {

        //02/05/22 sampleTime removed from signature
        WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,
          kp, ki, kd);

        int glLeftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;
        int glRightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

        glRightspeednum = (glRightspeednum <= MOTOR_SPEED_FULL) ? glRightspeednum : MOTOR_SPEED_FULL;
        glRightspeednum = (glRightspeednum > 0) ? glRightspeednum : 0;
        glLeftspeednum = (glLeftspeednum <= MOTOR_SPEED_FULL) ? glLeftspeednum : MOTOR_SPEED_FULL;
        glLeftspeednum = (glLeftspeednum > 0) ? glLeftspeednum : 0;

        MoveAhead(glLeftspeednum, glRightspeednum);

        myTeePrint.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",
          millis(),
          glLidar_LeftFront, glLidar_LeftCenter, glLidar_LeftRear,
          WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,
          kp * lastError, ki * lastIval, kd * lastDerror,
          WallTrackOutput, glLeftspeednum, glRightspeednum);
      }
    }
  }
}

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void TrackLeftWallOffset(float kp, float ki, float kd, float offsetCm)

{

//Notes:

// 06/21/21 modified to do a turn, then straight, then track 0 steer val

mSecSinceLastWallTrackUpdate = 0;

float lastError = 0;

float lastInput = 0;

float lastIval = 0;

float lastDerror = 0;

float spinRateDPS = 30;

GetRequestedVL53l0xValues(VL53L0X_LEFT); //update glLeftSteeringVal

myTeePrint.printf("\nIn TrackLeftWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

//06/21/21 modified to do a turn, then straight, then track 0 steer val

float cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(glLidar_LeftCenter / 10.f);//positive inside, negative outside desired offset

myTeePrint.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",

glLidar_LeftRear, glLidar_LeftCenter, glLidar_LeftFront, glLeftSteeringVal, cutAngleDeg);

//07/05/21 implement min cut angle

if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

myTeePrint.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;

}

else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

myTeePrint.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;

}

//get the steering angle from the steering value, for comparison to the computed cut angle

//positive value means robot is oriented away from wall

float SteerAngleDeg = GetSteeringAngle(glLeftSteeringVal);

GetRequestedVL53l0xValues(VL53L0X_LEFT);

myTeePrint.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

glLidar_LeftRear, glLidar_LeftCenter, glLidar_LeftFront, glLeftSteeringVal, SteerAngleDeg, cutAngleDeg);

//now decide which way to turn.

int16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

if (cutAngleDeg > 0) //robot inside desired offset distance

{

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg also > 0, have to turn CCW

{

myTeePrint.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg - Turn CCW to cut angle\n");

SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else //(SteerAngleDeg <= cutAngleDeg)// --> SteerAngleDeg could be < 0

{

myTeePrint.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx

}

else // cutAngleDeg < 0 --> robot outside desired offset distance

{

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg may also be > 0

{

//robot turned too far toward wall

myTeePrint.printf("CutAngDeg < 0, SteerAngleDeg > cutAngleDeg\n");

SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else// (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0

{

//robot turned to far away from wall

myTeePrint.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx

}

myTeePrint.printf("fudgeFactorMM = %d\n", fudgeFactorMM);

delay(1000);

//adjust so offset capture occurs at correct perpendicular offset

float adjfactor = cos(PI * cutAngleDeg / 180.f);

float numerator = 10 * (float)WALL_OFFSET_TGTDIST_CM;

float adjOffsetMM = (numerator / adjfactor);

adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel.

myTeePrint.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, num = %2.2f, tgt dist = %2.2f\n",

cutAngleDeg, adjfactor, numerator, adjOffsetMM);

GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21

long int err = glLidar_LeftFront - adjOffsetMM; //neg for inside going out, pos for outside going in

long int prev_err = err;

myTeePrint.printf("At start - err = prev_err = %ld\n", err, prev_err);

SteerAngleDeg = GetSteeringAngle(glLeftSteeringVal);

myTeePrint.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",

glLidar_LeftRear, glLidar_LeftCenter, glLidar_LeftFront, glLeftSteeringVal, SteerAngleDeg, cutAngleDeg, err);

myTeePrint.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tErr\tP_err\n");

//TIMSK5 = 0; //turn off TIMER5 interrupts

//09/05/21 rev to doublecheck robot position - might not need the forward motion section

while (((cutAngleDeg > 0 && err < 0) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0

{

prev_err = err;

//MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);

MoveAhead(MOTOR_SPEED_FULL, MOTOR_SPEED_FULL);

delay(100);

glFrontdistval = GetFrontDistCm();

GetRequestedVL53l0xValues(VL53L0X_ALL);

err = glLidar_LeftFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist

myTeePrint.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",

millis(),

glLidar_LeftFront, glLidar_LeftCenter, glLidar_LeftRear, glFrontdistval, glLidar_Rear, err, prev_err);

CheckForUserInput();

}

//now turn back the same (unadjusted) amount

myTeePrint.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);

myTeePrint.printf("correct back to parallel\n");

SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

WallTrackSetPoint = 0; //moved here 6/22/21

//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

myTeePrint.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);

myTeePrint.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

mSecSinceLastWallTrackUpdate = 0; //added 09/04/21

while (true)

{

CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

//now using TIMER5 100 mSec interrupt for timing

//if (bTimeForNavUpdate)

//{

// //mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

// bTimeForNavUpdate = false;

//09/04/21 back to elapsedMillis timing

if (mSecSinceLastWallTrackUpdate > WALL_TRACK_UPDATE_INTERVAL_MSEC)

{

mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

//have to weight value by both angle and wall offset

WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

//update motor speeds, skipping bad values

if (!isnan(WallTrackSteerVal))

{

//02/05/22 sampleTime removed from signature

WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

int glLeftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

int glRightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

glRightspeednum = (glRightspeednum <= MOTOR_SPEED_FULL) ? glRightspeednum : MOTOR_SPEED_FULL;

glRightspeednum = (glRightspeednum > 0) ? glRightspeednum : 0;

glLeftspeednum = (glLeftspeednum <= MOTOR_SPEED_FULL) ? glLeftspeednum : MOTOR_SPEED_FULL;

glLeftspeednum = (glLeftspeednum > 0) ? glLeftspeednum : 0;

MoveAhead(glLeftspeednum, glRightspeednum);

myTeePrint.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",

millis(),

glLidar_LeftFront, glLidar_LeftCenter, glLidar_LeftRear,

WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,

kp * lastError, ki * lastIval, kd * lastDerror,

WallTrackOutput, glLeftspeednum, glRightspeednum);

}

And here is just the wall tracking portion of the above function:

  WallTrackSetPoint = 0; //moved here 6/22/21
  //TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

  myTeePrint.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);
  myTeePrint.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

  mSecSinceLastWallTrackUpdate = 0; //added 09/04/21
  while (true)
  {
    CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

    //now using TIMER5 100 mSec interrupt for timing
    //if (bTimeForNavUpdate)
    //{
    //	//mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;
    //	bTimeForNavUpdate = false;

    //09/04/21 back to elapsedMillis timing
    if (mSecSinceLastWallTrackUpdate > WALL_TRACK_UPDATE_INTERVAL_MSEC)
    {
      mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

      GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

      //have to weight value by both angle and wall offset
      WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

      //update motor speeds, skipping bad values
      if (!isnan(WallTrackSteerVal))
      {

        //02/05/22 sampleTime removed from signature
        WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,
          kp, ki, kd);

        int glLeftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;
        int glRightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

        glRightspeednum = (glRightspeednum <= MOTOR_SPEED_FULL) ? glRightspeednum : MOTOR_SPEED_FULL;
        glRightspeednum = (glRightspeednum > 0) ? glRightspeednum : 0;
        glLeftspeednum = (glLeftspeednum <= MOTOR_SPEED_FULL) ? glLeftspeednum : MOTOR_SPEED_FULL;
        glLeftspeednum = (glLeftspeednum > 0) ? glLeftspeednum : 0;

        MoveAhead(glLeftspeednum, glRightspeednum);

        myTeePrint.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",
          millis(),
          glLidar_LeftFront, glLidar_LeftCenter, glLidar_LeftRear,
          WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,
          kp * lastError, ki * lastIval, kd * lastDerror,
          WallTrackOutput, glLeftspeednum, glRightspeednum);
      }
    }
  }

WallTrackSetPoint = 0; //moved here 6/22/21

//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

myTeePrint.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);

myTeePrint.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

mSecSinceLastWallTrackUpdate = 0; //added 09/04/21

while (true)

{

CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

//now using TIMER5 100 mSec interrupt for timing

//if (bTimeForNavUpdate)

//{

// //mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

// bTimeForNavUpdate = false;

//09/04/21 back to elapsedMillis timing

if (mSecSinceLastWallTrackUpdate > WALL_TRACK_UPDATE_INTERVAL_MSEC)

{

mSecSinceLastWallTrackUpdate -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

//have to weight value by both angle and wall offset

WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

//update motor speeds, skipping bad values

if (!isnan(WallTrackSteerVal))

{

//02/05/22 sampleTime removed from signature

WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

int glLeftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

int glRightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

glRightspeednum = (glRightspeednum <= MOTOR_SPEED_FULL) ? glRightspeednum : MOTOR_SPEED_FULL;

glRightspeednum = (glRightspeednum > 0) ? glRightspeednum : 0;

glLeftspeednum = (glLeftspeednum <= MOTOR_SPEED_FULL) ? glLeftspeednum : MOTOR_SPEED_FULL;

glLeftspeednum = (glLeftspeednum > 0) ? glLeftspeednum : 0;

MoveAhead(glLeftspeednum, glRightspeednum);

myTeePrint.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",

millis(),

glLidar_LeftFront, glLidar_LeftCenter, glLidar_LeftRear,

WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,

kp * lastError, ki * lastIval, kd * lastDerror,

WallTrackOutput, glLeftspeednum, glRightspeednum);

}

From the above, it appears that WallE3_WallTrack_V2 uses a ‘steering value’ setpoint of zero, and also ‘tweaks’ the input to the PID engine using the error between the measured wall distance and the desired wall offset, as shown in the following snippet:

      //have to weight value by both angle and wall offset
      WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

      //update motor speeds, skipping bad values
      if (!isnan(WallTrackSteerVal))
      {

        //02/05/22 sampleTime removed from signature
        WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,
          kp, ki, kd);

//have to weight value by both angle and wall offset

WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

//update motor speeds, skipping bad values

if (!isnan(WallTrackSteerVal))

{

//02/05/22 sampleTime removed from signature

WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

This is very similar to what I was trying to do in WallE3_WallTrackTuning_V5 initially below (copied here from ’24 January 2023 Update:’ above for convenience):

//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post
  glLeftCentCorrCm = CorrDistForOrient(glLeftCenterCm, glLeftSteeringVal);
  float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f;
  WallTrackSteerVal = glLeftSteeringVal + offset_factor;

//from Teensy_7VL53L0X_I2C_Slave_V3.ino: LeftSteeringVal = (LF_Dist_mm - LR_Dist_mm) / 100.f; //rev 06/21/20 see PPalace post

glLeftCentCorrCm = CorrDistForOrient(glLeftCenterCm, glLeftSteeringVal);

float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f;

WallTrackSteerVal = glLeftSteeringVal + offset_factor;

So, the original Tuning_V5 math appears to be identical to the WallTrack_V2 math; both use an offset factor as shown:

WallE3_WallTrackTuning_V5:

float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f;
  WallTrackSteerVal = glLeftSteeringVal + offset_factor;

1 2	float offset_factor = (glLeftCentCorrCm - OffCm) / 10.f; WallTrackSteerVal = glLeftSteeringVal + offset_factor;

WallE3_WallTrack_V2:

WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

1	WallTrackSteerVal = glLeftSteeringVal + (glLidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

Aha! In WallE3_WallTrack_V2 the offset error (in mm) is divided by 1000, but in WallE3_WallTrackTuning_V5 the offset error (in cm) is divided by 10, which still leaves a factor of 10 difference between the two algorithms! I should be dividing the cm offset by 100 – not 10!

28 January 2023 Update:

SUCCESS!!! So I went back to my WallE3_WallTrackTuning_V5 program, and modified it to be the same as WallE3_WallTrack_V2, except using distances in cm instead of mm, and dividing by 100 instead of 10. After the usual number of stupid errors, I got the following successful run on the ‘two break’ wall setup:

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 300.00	0.00	0.00
Msec	LF	LC	LR	Steer	Deg	Cos	LCCorr	Set	Err	SpinDeg
WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec	LF	LC	LR	LCCorr	OffCm	tErr	LastI	LastD	Out	Lspd	Rspd
44127	39.60	42.20	39.30	42.14	40.00	-0.05	0.00	-0.05	-15.41	59	90
44177	39.60	42.20	39.30	42.14	40.00	-0.05	0.00	0.00	-15.41	59	90
44227	39.30	41.70	39.90	41.46	40.00	0.05	0.00	0.10	13.63	88	61
44277	40.50	42.10	39.50	41.42	40.00	-0.11	0.00	-0.16	-34.26	40	109
44327	39.50	42.60	39.60	42.59	40.00	-0.02	0.00	0.10	-4.78	70	79
44377	40.30	42.20	38.90	40.88	40.00	-0.15	0.00	-0.13	-44.64	30	119
44427	40.10	42.80	39.70	42.69	40.00	-0.07	0.00	0.08	-20.07	54	95
44477	39.50	42.30	39.60	42.29	40.00	-0.01	0.00	0.05	-3.88	71	78
44527	39.90	42.60	39.20	42.26	40.00	-0.09	0.00	-0.08	-27.78	47	102
44577	40.10	42.60	39.20	42.26	40.00	-0.09	0.00	0.00	-27.78	47	102
44627	40.10	41.10	38.90	40.15	40.00	-0.12	0.00	-0.03	-36.45	38	111
44677	40.30	41.50	38.90	40.20	40.00	-0.14	0.00	-0.02	-42.61	32	117
44727	39.20	41.40	39.20	41.40	40.00	-0.01	0.00	0.13	-4.20	70	79
44777	38.70	40.90	38.30	40.79	40.00	-0.05	0.00	-0.03	-14.38	60	89
44827	38.40	40.30	38.30	40.29	40.00	-0.01	0.00	0.03	-3.88	71	78
44877	37.90	40.30	39.30	39.04	40.00	0.15	0.00	0.16	44.88	119	30
44927	37.90	40.00	38.00	39.99	40.00	0.01	0.00	-0.14	3.02	78	71
44977	37.30	39.40	38.30	38.76	40.00	0.11	0.00	0.10	33.71	108	41
45027	37.30	39.40	38.30	38.76	40.00	0.11	0.00	0.00	33.71	108	41
45077	35.90	38.90	36.70	38.50	40.00	0.10	0.00	-0.02	28.51	103	46
45127	36.60	38.00	36.50	37.99	40.00	0.01	0.00	-0.08	3.02	78	71
45177	35.60	37.90	35.90	37.84	40.00	0.05	0.00	0.04	15.47	90	59
45227	35.30	37.30	35.60	37.25	40.00	0.06	0.00	0.01	17.26	92	57
45277	34.70	36.80	35.10	36.70	40.00	0.07	0.00	0.02	21.89	96	53
45327	34.20	35.80	35.20	35.22	40.00	0.15	0.00	0.07	44.33	119	30
45377	34.00	35.60	34.50	35.46	40.00	0.10	0.00	-0.05	28.63	103	46
45427	33.60	34.50	34.50	34.36	40.00	0.11	0.00	0.01	31.92	106	43
45477	33.60	34.50	33.20	34.41	40.00	0.02	0.00	-0.09	4.77	79	70
45527	33.80	34.90	33.70	34.89	40.00	0.04	0.00	0.03	12.32	87	62
45577	32.90	34.00	33.20	33.95	40.00	0.09	0.00	0.05	27.15	102	47
45627	33.20	34.20	32.50	33.93	40.00	-0.01	0.00	-0.10	-2.78	72	77
45677	32.80	33.70	32.40	33.61	40.00	0.02	0.00	0.03	7.16	82	67
45727	33.00	33.40	32.10	32.96	40.00	-0.02	0.00	-0.04	-5.89	69	80
45777	32.60	33.40	31.80	33.05	40.00	-0.01	0.00	0.01	-3.16	71	78
45827	32.60	32.90	31.90	32.64	40.00	0.00	0.00	0.01	1.09	76	73
45877	31.90	32.20	32.10	32.18	40.00	0.10	0.00	0.09	29.46	104	45
45927	31.70	32.60	32.10	32.51	40.00	0.11	0.00	0.02	34.46	109	40
45977	32.40	33.20	32.10	33.15	40.00	0.04	0.00	-0.08	11.55	86	63
46027	33.30	34.10	31.40	32.18	40.00	-0.11	0.00	-0.15	-33.53	41	108
46077	34.80	35.80	32.10	31.89	40.00	-0.19	0.00	-0.08	-56.67	18	127
46127	36.70	37.50	32.90	29.99	40.00	-0.28	0.00	-0.09	-83.96	0	127
46177	37.00	38.50	34.80	35.63	40.00	-0.18	0.00	0.10	-52.89	22	127
46227	37.80	39.40	34.90	34.50	40.00	-0.23	0.00	-0.06	-70.49	4	127
46277	38.60	39.60	35.80	34.98	40.00	-0.23	0.00	0.01	-68.93	6	127
46327	37.70	40.00	36.50	39.08	40.00	-0.11	0.00	0.12	-33.23	41	108
46377	37.60	40.50	36.00	38.86	40.00	-0.15	0.00	-0.04	-44.58	30	119
46427	38.60	40.40	36.50	37.64	40.00	-0.19	0.00	-0.04	-55.92	19	127
46477	38.90	41.00	37.00	38.69	40.00	-0.18	0.00	0.01	-53.06	21	127
46527	38.90	41.10	37.70	40.15	40.00	-0.12	0.00	0.06	-36.45	38	111
46577	38.40	40.90	38.10	40.84	40.00	-0.04	0.00	0.08	-11.52	63	86
46627	39.00	39.70	38.30	39.38	40.00	-0.06	0.00	-0.03	-19.15	55	94
46677	39.80	41.60	38.50	40.48	40.00	-0.13	0.00	-0.07	-40.43	34	115
46727	39.10	41.10	39.20	41.09	40.00	-0.00	0.00	0.13	-0.28	74	75
46777	38.30	40.40	38.80	40.24	40.00	0.05	0.00	0.05	14.29	89	60
46827	38.40	40.80	38.90	40.63	40.00	0.04	0.00	-0.00	13.10	88	61
46877	38.90	40.10	39.00	40.09	40.00	0.01	0.00	-0.03	2.72	77	72
46927	38.20	39.60	38.30	39.50	40.00	-0.03	0.00	-0.04	-10.49	64	85
46977	37.60	39.20	38.60	38.57	40.00	0.11	0.00	0.15	34.30	109	40
47027	37.10	39.80	37.80	39.48	40.00	0.08	0.00	-0.04	22.55	97	52
47077	37.00	38.80	36.90	38.79	40.00	0.00	0.00	-0.07	0.62	75	74
47127	36.50	39.10	37.20	38.79	40.00	0.08	0.00	0.08	24.63	99	50
47177	37.70	39.30	37.50	39.27	40.00	-0.01	0.00	-0.09	-3.82	71	78
47227	36.60	38.20	37.10	38.04	40.00	0.07	0.00	0.08	20.87	95	54
47277	36.70	38.70	37.00	38.54	40.00	0.06	0.00	-0.00	19.37	94	55
47327	36.40	37.10	37.60	36.24	40.00	0.16	0.00	0.09	47.27	122	27
47377	37.00	38.20	36.70	38.14	40.00	-0.01	0.00	-0.17	-3.43	71	78
47427	36.70	37.30	36.90	37.28	40.00	0.05	0.00	0.06	14.17	89	60
47477	37.00	37.60	36.50	37.45	40.00	-0.02	0.00	-0.07	-7.34	67	82
47527	36.90	37.90	36.00	37.40	40.00	-0.06	0.00	-0.04	-19.21	55	94
47577	36.50	37.60	35.90	37.38	40.00	-0.03	0.00	0.03	-10.14	64	85
47627	36.50	38.10	35.80	37.80	40.00	-0.05	0.00	-0.01	-14.39	60	89
47677	36.60	37.50	35.80	37.11	40.00	-0.05	0.00	-0.00	-15.33	59	90
47727	36.00	37.50	36.40	37.40	40.00	0.07	0.00	0.12	19.79	94	55
47777	36.10	38.30	36.30	38.27	40.00	0.04	0.00	-0.03	11.18	86	63
47827	36.10	37.80	36.50	37.70	40.00	0.06	0.00	0.03	18.90	93	56
47877	36.40	37.40	35.80	37.18	40.00	-0.03	0.00	-0.09	-9.54	65	84
47927	35.90	38.20	35.90	38.20	40.00	0.02	0.00	0.05	5.40	80	69
47977	36.40	37.60	36.20	37.58	40.00	0.00	0.00	-0.01	1.27	76	73
48027	35.90	37.00	35.70	36.98	40.00	0.01	0.00	0.01	3.07	78	71
48077	37.00	37.80	36.40	37.58	40.00	-0.04	0.00	-0.05	-10.74	64	85
48127	36.60	37.40	35.80	37.01	40.00	-0.05	0.00	-0.01	-15.04	59	90
48177	36.50	38.20	35.80	37.90	40.00	-0.05	0.00	0.00	-14.69	60	89
48227	36.30	37.80	36.30	37.80	40.00	0.02	0.00	0.07	6.60	81	68
48277	36.50	37.90	36.50	37.90	40.00	0.02	0.00	-0.00	6.30	81	68
48327	37.20	37.30	35.90	36.29	40.00	-0.09	0.00	-0.11	-27.88	47	102
48377	37.00	38.30	37.10	38.29	40.00	0.03	0.00	0.12	8.12	83	66
48427	36.70	38.10	36.10	38.09	40.00	0.03	0.00	0.00	8.72	83	66
48477	36.20	38.10	36.50	38.04	40.00	0.05	0.00	0.02	14.87	89	60
48527	37.00	39.00	36.90	38.99	40.00	0.00	0.00	-0.05	0.02	75	74
48577	37.50	38.90	36.00	37.51	40.00	-0.13	0.00	-0.13	-37.53	37	112
48627	36.40	38.60	37.20	38.20	40.00	0.10	0.00	0.22	29.40	104	45
48677	35.50	38.10	37.00	36.74	40.00	0.18	0.00	0.08	54.79	127	20
48727	35.70	36.40	37.00	35.42	40.00	0.18	0.00	-0.01	52.75	127	22
48777	34.00	36.30	36.50	32.86	40.00	0.32	0.00	0.15	96.42	127	0
48827	34.30	35.80	35.60	34.83	40.00	0.18	0.00	-0.14	54.50	127	20
48877	33.10	34.20	34.30	33.41	40.00	0.19	0.00	0.00	55.77	127	19
48927	31.70	32.60	32.90	31.85	40.00	0.20	0.00	0.02	60.46	127	14
48977	31.30	32.20	31.80	32.07	40.00	0.13	0.00	-0.07	38.79	113	36
49027	30.50	30.90	31.10	30.72	40.00	0.15	0.00	0.02	45.84	120	29
49077	30.70	30.10	30.00	29.86	40.00	0.03	0.00	-0.12	9.42	84	65
49127	30.20	29.80	30.00	29.78	40.00	0.08	0.00	0.05	24.66	99	50
49177	30.00	30.20	29.80	30.18	40.00	0.08	0.00	-0.00	23.46	98	51
49227	30.10	29.70	30.00	29.70	40.00	0.09	0.00	0.01	27.91	102	47
49277	30.20	30.30	29.80	30.22	40.00	0.06	0.00	-0.04	17.34	92	57
49327	30.60	31.00	29.80	30.92	40.00	0.05	0.00	-0.01	15.24	90	59
49377	30.60	31.00	30.20	30.92	40.00	0.05	0.00	0.00	15.24	90	59
49427	31.50	31.70	30.80	31.45	40.00	0.02	0.00	-0.04	4.66	79	70
49477	31.40	32.30	30.90	32.17	40.00	0.03	0.00	0.01	8.49	83	66
49527	32.30	33.00	31.50	32.66	40.00	-0.01	0.00	-0.03	-1.97	73	76
49577	32.10	32.20	31.50	32.01	40.00	0.02	0.00	0.03	5.97	80	69
49627	33.60	33.90	32.00	32.53	40.00	-0.09	0.00	-0.11	-25.58	49	100
49677	34.00	34.60	32.50	33.36	40.00	-0.08	0.00	0.00	-25.09	49	100
49727	34.30	36.10	32.80	34.81	40.00	-0.10	0.00	-0.01	-29.43	45	104
49777	34.30	36.10	32.80	34.81	40.00	-0.10	0.00	0.00	-29.43	45	104
49827	34.70	35.60	34.10	35.39	40.00	-0.01	0.00	0.08	-4.17	70	79
49877	34.60	35.90	34.60	35.90	40.00	0.04	0.00	0.05	12.30	87	62
49927	35.50	36.30	34.20	35.32	40.00	-0.08	0.00	-0.12	-24.96	50	99
49977	35.90	36.80	35.20	36.51	40.00	-0.04	0.00	0.05	-10.52	64	85
50027	36.40	37.00	35.20	36.15	40.00	-0.08	0.00	-0.05	-24.44	50	99
50077	36.30	37.80	35.10	36.93	40.00	-0.09	0.00	-0.01	-26.78	48	101
50127	36.60	37.80	35.40	36.93	40.00	-0.09	0.00	0.00	-26.78	48	101
50177	37.40	37.60	36.30	36.87	40.00	-0.08	0.00	0.01	-23.60	51	98
50227	37.30	37.80	36.50	37.41	40.00	-0.05	0.00	0.02	-16.22	58	91
50277	37.60	38.50	36.50	37.75	40.00	-0.09	0.00	-0.03	-26.25	48	101
50327	37.40	37.90	35.80	36.36	40.00	-0.12	0.00	-0.04	-37.09	37	112
50377	38.20	38.40	36.50	36.65	40.00	-0.14	0.00	-0.01	-40.95	34	115
50427	37.30	39.90	37.10	39.87	40.00	-0.02	0.00	0.12	-5.62	69	80
50477	37.00	39.60	36.80	39.57	40.00	-0.02	0.00	0.00	-4.72	70	79
50527	38.10	39.70	37.10	39.06	40.00	-0.09	0.00	-0.07	-27.18	47	102
50577	37.60	39.30	36.90	38.99	40.00	-0.06	0.00	0.03	-17.96	57	92
50627	38.60	39.00	37.60	38.37	40.00	-0.08	0.00	-0.02	-25.11	49	100
50677	38.80	39.60	38.30	39.44	40.00	-0.04	0.00	0.04	-13.32	61	88
50727	38.90	40.40	37.70	39.47	40.00	-0.11	0.00	-0.07	-34.40	40	109
50777	39.20	40.30	38.10	39.52	40.00	-0.11	0.00	0.01	-31.55	43	106
50827	38.90	39.10	38.00	38.59	40.00	-0.08	0.00	0.03	-22.76	52	97
50877	39.10	40.30	38.30	39.88	40.00	-0.08	0.00	-0.00	-23.65	51	98
50927	39.00	40.90	38.30	40.57	40.00	-0.08	0.00	0.00	-22.72	52	97
50977	38.70	40.30	38.30	40.19	40.00	-0.04	0.00	0.03	-12.58	62	87
51027	38.70	40.30	38.30	40.19	40.00	-0.04	0.00	0.00	-12.58	62	87
51077	38.30	39.40	38.40	39.39	40.00	0.02	0.00	0.06	4.82	79	70
51127	38.20	39.90	38.30	39.89	40.00	0.01	0.00	-0.00	3.32	78	71
51177	37.60	39.00	37.20	38.90	40.00	-0.03	0.00	-0.04	-8.69	66	83
51227	37.00	38.60	37.70	38.29	40.00	0.09	0.00	0.12	26.12	101	48
51277	37.00	38.30	36.90	38.29	40.00	0.01	0.00	-0.08	2.12	77	72
51327	37.00	38.30	36.90	38.29	40.00	0.01	0.00	0.00	2.12	77	72
51377	37.00	38.00	37.30	37.94	40.00	0.05	0.00	0.04	15.17	90	59
51427	36.20	37.80	36.50	37.74	40.00	0.05	0.00	0.00	15.77	90	59
51477	35.90	36.80	36.10	36.78	40.00	0.05	0.00	-0.00	15.67	90	59
51527	35.90	36.90	35.60	36.85	40.00	0.00	0.00	-0.05	0.46	75	74
51577	35.50	36.20	35.60	36.19	40.00	0.05	0.00	0.05	14.42	89	60
51627	35.50	35.20	35.10	35.11	40.00	0.01	0.00	-0.04	2.68	77	72
51677	34.80	34.70	34.20	34.50	40.00	-0.00	0.00	-0.01	-1.49	73	76
51727	34.60	35.10	34.70	35.09	40.00	0.06	0.00	0.06	17.72	92	57
51777	34.10	33.80	33.70	33.71	40.00	0.02	0.00	-0.04	6.86	81	68
51827	33.90	33.90	33.30	33.70	40.00	0.00	0.00	-0.02	0.90	75	74
51877	34.20	33.90	33.80	33.81	40.00	0.02	0.00	0.02	6.57	81	68
51927	33.60	33.80	33.10	33.66	40.00	0.01	0.00	-0.01	4.01	79	70
51977	33.70	33.70	33.30	33.61	40.00	0.02	0.00	0.01	7.16	82	67
52027	33.30	33.50	32.60	33.23	40.00	-0.00	0.00	-0.03	-0.70	74	75

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WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 300.00 0.00 0.00

Msec LF LC LR Steer Deg Cos LCCorr Set Err SpinDeg

WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec LF LC LR LCCorr OffCm tErr LastI LastD Out Lspd Rspd

44127 39.60 42.20 39.30 42.14 40.00 -0.05 0.00 -0.05 -15.41 59 90

44177 39.60 42.20 39.30 42.14 40.00 -0.05 0.00 0.00 -15.41 59 90

44227 39.30 41.70 39.90 41.46 40.00 0.05 0.00 0.10 13.63 88 61

44277 40.50 42.10 39.50 41.42 40.00 -0.11 0.00 -0.16 -34.26 40 109

44327 39.50 42.60 39.60 42.59 40.00 -0.02 0.00 0.10 -4.78 70 79

44377 40.30 42.20 38.90 40.88 40.00 -0.15 0.00 -0.13 -44.64 30 119

44427 40.10 42.80 39.70 42.69 40.00 -0.07 0.00 0.08 -20.07 54 95

44477 39.50 42.30 39.60 42.29 40.00 -0.01 0.00 0.05 -3.88 71 78

44527 39.90 42.60 39.20 42.26 40.00 -0.09 0.00 -0.08 -27.78 47 102

44577 40.10 42.60 39.20 42.26 40.00 -0.09 0.00 0.00 -27.78 47 102

44627 40.10 41.10 38.90 40.15 40.00 -0.12 0.00 -0.03 -36.45 38 111

44677 40.30 41.50 38.90 40.20 40.00 -0.14 0.00 -0.02 -42.61 32 117

44727 39.20 41.40 39.20 41.40 40.00 -0.01 0.00 0.13 -4.20 70 79

44777 38.70 40.90 38.30 40.79 40.00 -0.05 0.00 -0.03 -14.38 60 89

44827 38.40 40.30 38.30 40.29 40.00 -0.01 0.00 0.03 -3.88 71 78

44877 37.90 40.30 39.30 39.04 40.00 0.15 0.00 0.16 44.88 119 30

44927 37.90 40.00 38.00 39.99 40.00 0.01 0.00 -0.14 3.02 78 71

44977 37.30 39.40 38.30 38.76 40.00 0.11 0.00 0.10 33.71 108 41

45027 37.30 39.40 38.30 38.76 40.00 0.11 0.00 0.00 33.71 108 41

45077 35.90 38.90 36.70 38.50 40.00 0.10 0.00 -0.02 28.51 103 46

45127 36.60 38.00 36.50 37.99 40.00 0.01 0.00 -0.08 3.02 78 71

45177 35.60 37.90 35.90 37.84 40.00 0.05 0.00 0.04 15.47 90 59

45227 35.30 37.30 35.60 37.25 40.00 0.06 0.00 0.01 17.26 92 57

45277 34.70 36.80 35.10 36.70 40.00 0.07 0.00 0.02 21.89 96 53

45327 34.20 35.80 35.20 35.22 40.00 0.15 0.00 0.07 44.33 119 30

45377 34.00 35.60 34.50 35.46 40.00 0.10 0.00 -0.05 28.63 103 46

45427 33.60 34.50 34.50 34.36 40.00 0.11 0.00 0.01 31.92 106 43

45477 33.60 34.50 33.20 34.41 40.00 0.02 0.00 -0.09 4.77 79 70

45527 33.80 34.90 33.70 34.89 40.00 0.04 0.00 0.03 12.32 87 62

45577 32.90 34.00 33.20 33.95 40.00 0.09 0.00 0.05 27.15 102 47

45627 33.20 34.20 32.50 33.93 40.00 -0.01 0.00 -0.10 -2.78 72 77

45677 32.80 33.70 32.40 33.61 40.00 0.02 0.00 0.03 7.16 82 67

45727 33.00 33.40 32.10 32.96 40.00 -0.02 0.00 -0.04 -5.89 69 80

45777 32.60 33.40 31.80 33.05 40.00 -0.01 0.00 0.01 -3.16 71 78

45827 32.60 32.90 31.90 32.64 40.00 0.00 0.00 0.01 1.09 76 73

45877 31.90 32.20 32.10 32.18 40.00 0.10 0.00 0.09 29.46 104 45

45927 31.70 32.60 32.10 32.51 40.00 0.11 0.00 0.02 34.46 109 40

45977 32.40 33.20 32.10 33.15 40.00 0.04 0.00 -0.08 11.55 86 63

46027 33.30 34.10 31.40 32.18 40.00 -0.11 0.00 -0.15 -33.53 41 108

46077 34.80 35.80 32.10 31.89 40.00 -0.19 0.00 -0.08 -56.67 18 127

46127 36.70 37.50 32.90 29.99 40.00 -0.28 0.00 -0.09 -83.96 0 127

46177 37.00 38.50 34.80 35.63 40.00 -0.18 0.00 0.10 -52.89 22 127

46227 37.80 39.40 34.90 34.50 40.00 -0.23 0.00 -0.06 -70.49 4 127

46277 38.60 39.60 35.80 34.98 40.00 -0.23 0.00 0.01 -68.93 6 127

46327 37.70 40.00 36.50 39.08 40.00 -0.11 0.00 0.12 -33.23 41 108

46377 37.60 40.50 36.00 38.86 40.00 -0.15 0.00 -0.04 -44.58 30 119

46427 38.60 40.40 36.50 37.64 40.00 -0.19 0.00 -0.04 -55.92 19 127

46477 38.90 41.00 37.00 38.69 40.00 -0.18 0.00 0.01 -53.06 21 127

46527 38.90 41.10 37.70 40.15 40.00 -0.12 0.00 0.06 -36.45 38 111

46577 38.40 40.90 38.10 40.84 40.00 -0.04 0.00 0.08 -11.52 63 86

46627 39.00 39.70 38.30 39.38 40.00 -0.06 0.00 -0.03 -19.15 55 94

46677 39.80 41.60 38.50 40.48 40.00 -0.13 0.00 -0.07 -40.43 34 115

46727 39.10 41.10 39.20 41.09 40.00 -0.00 0.00 0.13 -0.28 74 75

46777 38.30 40.40 38.80 40.24 40.00 0.05 0.00 0.05 14.29 89 60

46827 38.40 40.80 38.90 40.63 40.00 0.04 0.00 -0.00 13.10 88 61

46877 38.90 40.10 39.00 40.09 40.00 0.01 0.00 -0.03 2.72 77 72

46927 38.20 39.60 38.30 39.50 40.00 -0.03 0.00 -0.04 -10.49 64 85

46977 37.60 39.20 38.60 38.57 40.00 0.11 0.00 0.15 34.30 109 40

47027 37.10 39.80 37.80 39.48 40.00 0.08 0.00 -0.04 22.55 97 52

47077 37.00 38.80 36.90 38.79 40.00 0.00 0.00 -0.07 0.62 75 74

47127 36.50 39.10 37.20 38.79 40.00 0.08 0.00 0.08 24.63 99 50

47177 37.70 39.30 37.50 39.27 40.00 -0.01 0.00 -0.09 -3.82 71 78

47227 36.60 38.20 37.10 38.04 40.00 0.07 0.00 0.08 20.87 95 54

47277 36.70 38.70 37.00 38.54 40.00 0.06 0.00 -0.00 19.37 94 55

47327 36.40 37.10 37.60 36.24 40.00 0.16 0.00 0.09 47.27 122 27

47377 37.00 38.20 36.70 38.14 40.00 -0.01 0.00 -0.17 -3.43 71 78

47427 36.70 37.30 36.90 37.28 40.00 0.05 0.00 0.06 14.17 89 60

47477 37.00 37.60 36.50 37.45 40.00 -0.02 0.00 -0.07 -7.34 67 82

47527 36.90 37.90 36.00 37.40 40.00 -0.06 0.00 -0.04 -19.21 55 94

47577 36.50 37.60 35.90 37.38 40.00 -0.03 0.00 0.03 -10.14 64 85

47627 36.50 38.10 35.80 37.80 40.00 -0.05 0.00 -0.01 -14.39 60 89

47677 36.60 37.50 35.80 37.11 40.00 -0.05 0.00 -0.00 -15.33 59 90

47727 36.00 37.50 36.40 37.40 40.00 0.07 0.00 0.12 19.79 94 55

47777 36.10 38.30 36.30 38.27 40.00 0.04 0.00 -0.03 11.18 86 63

47827 36.10 37.80 36.50 37.70 40.00 0.06 0.00 0.03 18.90 93 56

47877 36.40 37.40 35.80 37.18 40.00 -0.03 0.00 -0.09 -9.54 65 84

47927 35.90 38.20 35.90 38.20 40.00 0.02 0.00 0.05 5.40 80 69

47977 36.40 37.60 36.20 37.58 40.00 0.00 0.00 -0.01 1.27 76 73

48027 35.90 37.00 35.70 36.98 40.00 0.01 0.00 0.01 3.07 78 71

48077 37.00 37.80 36.40 37.58 40.00 -0.04 0.00 -0.05 -10.74 64 85

48127 36.60 37.40 35.80 37.01 40.00 -0.05 0.00 -0.01 -15.04 59 90

48177 36.50 38.20 35.80 37.90 40.00 -0.05 0.00 0.00 -14.69 60 89

48227 36.30 37.80 36.30 37.80 40.00 0.02 0.00 0.07 6.60 81 68

48277 36.50 37.90 36.50 37.90 40.00 0.02 0.00 -0.00 6.30 81 68

48327 37.20 37.30 35.90 36.29 40.00 -0.09 0.00 -0.11 -27.88 47 102

48377 37.00 38.30 37.10 38.29 40.00 0.03 0.00 0.12 8.12 83 66

48427 36.70 38.10 36.10 38.09 40.00 0.03 0.00 0.00 8.72 83 66

48477 36.20 38.10 36.50 38.04 40.00 0.05 0.00 0.02 14.87 89 60

48527 37.00 39.00 36.90 38.99 40.00 0.00 0.00 -0.05 0.02 75 74

48577 37.50 38.90 36.00 37.51 40.00 -0.13 0.00 -0.13 -37.53 37 112

48627 36.40 38.60 37.20 38.20 40.00 0.10 0.00 0.22 29.40 104 45

48677 35.50 38.10 37.00 36.74 40.00 0.18 0.00 0.08 54.79 127 20

48727 35.70 36.40 37.00 35.42 40.00 0.18 0.00 -0.01 52.75 127 22

48777 34.00 36.30 36.50 32.86 40.00 0.32 0.00 0.15 96.42 127 0

48827 34.30 35.80 35.60 34.83 40.00 0.18 0.00 -0.14 54.50 127 20

48877 33.10 34.20 34.30 33.41 40.00 0.19 0.00 0.00 55.77 127 19

48927 31.70 32.60 32.90 31.85 40.00 0.20 0.00 0.02 60.46 127 14

48977 31.30 32.20 31.80 32.07 40.00 0.13 0.00 -0.07 38.79 113 36

49027 30.50 30.90 31.10 30.72 40.00 0.15 0.00 0.02 45.84 120 29

49077 30.70 30.10 30.00 29.86 40.00 0.03 0.00 -0.12 9.42 84 65

49127 30.20 29.80 30.00 29.78 40.00 0.08 0.00 0.05 24.66 99 50

49177 30.00 30.20 29.80 30.18 40.00 0.08 0.00 -0.00 23.46 98 51

49227 30.10 29.70 30.00 29.70 40.00 0.09 0.00 0.01 27.91 102 47

49277 30.20 30.30 29.80 30.22 40.00 0.06 0.00 -0.04 17.34 92 57

49327 30.60 31.00 29.80 30.92 40.00 0.05 0.00 -0.01 15.24 90 59

49377 30.60 31.00 30.20 30.92 40.00 0.05 0.00 0.00 15.24 90 59

49427 31.50 31.70 30.80 31.45 40.00 0.02 0.00 -0.04 4.66 79 70

49477 31.40 32.30 30.90 32.17 40.00 0.03 0.00 0.01 8.49 83 66

49527 32.30 33.00 31.50 32.66 40.00 -0.01 0.00 -0.03 -1.97 73 76

49577 32.10 32.20 31.50 32.01 40.00 0.02 0.00 0.03 5.97 80 69

49627 33.60 33.90 32.00 32.53 40.00 -0.09 0.00 -0.11 -25.58 49 100

49677 34.00 34.60 32.50 33.36 40.00 -0.08 0.00 0.00 -25.09 49 100

49727 34.30 36.10 32.80 34.81 40.00 -0.10 0.00 -0.01 -29.43 45 104

49777 34.30 36.10 32.80 34.81 40.00 -0.10 0.00 0.00 -29.43 45 104

49827 34.70 35.60 34.10 35.39 40.00 -0.01 0.00 0.08 -4.17 70 79

49877 34.60 35.90 34.60 35.90 40.00 0.04 0.00 0.05 12.30 87 62

49927 35.50 36.30 34.20 35.32 40.00 -0.08 0.00 -0.12 -24.96 50 99

49977 35.90 36.80 35.20 36.51 40.00 -0.04 0.00 0.05 -10.52 64 85

50027 36.40 37.00 35.20 36.15 40.00 -0.08 0.00 -0.05 -24.44 50 99

50077 36.30 37.80 35.10 36.93 40.00 -0.09 0.00 -0.01 -26.78 48 101

50127 36.60 37.80 35.40 36.93 40.00 -0.09 0.00 0.00 -26.78 48 101

50177 37.40 37.60 36.30 36.87 40.00 -0.08 0.00 0.01 -23.60 51 98

50227 37.30 37.80 36.50 37.41 40.00 -0.05 0.00 0.02 -16.22 58 91

50277 37.60 38.50 36.50 37.75 40.00 -0.09 0.00 -0.03 -26.25 48 101

50327 37.40 37.90 35.80 36.36 40.00 -0.12 0.00 -0.04 -37.09 37 112

50377 38.20 38.40 36.50 36.65 40.00 -0.14 0.00 -0.01 -40.95 34 115

50427 37.30 39.90 37.10 39.87 40.00 -0.02 0.00 0.12 -5.62 69 80

50477 37.00 39.60 36.80 39.57 40.00 -0.02 0.00 0.00 -4.72 70 79

50527 38.10 39.70 37.10 39.06 40.00 -0.09 0.00 -0.07 -27.18 47 102

50577 37.60 39.30 36.90 38.99 40.00 -0.06 0.00 0.03 -17.96 57 92

50627 38.60 39.00 37.60 38.37 40.00 -0.08 0.00 -0.02 -25.11 49 100

50677 38.80 39.60 38.30 39.44 40.00 -0.04 0.00 0.04 -13.32 61 88

50727 38.90 40.40 37.70 39.47 40.00 -0.11 0.00 -0.07 -34.40 40 109

50777 39.20 40.30 38.10 39.52 40.00 -0.11 0.00 0.01 -31.55 43 106

50827 38.90 39.10 38.00 38.59 40.00 -0.08 0.00 0.03 -22.76 52 97

50877 39.10 40.30 38.30 39.88 40.00 -0.08 0.00 -0.00 -23.65 51 98

50927 39.00 40.90 38.30 40.57 40.00 -0.08 0.00 0.00 -22.72 52 97

50977 38.70 40.30 38.30 40.19 40.00 -0.04 0.00 0.03 -12.58 62 87

51027 38.70 40.30 38.30 40.19 40.00 -0.04 0.00 0.00 -12.58 62 87

51077 38.30 39.40 38.40 39.39 40.00 0.02 0.00 0.06 4.82 79 70

51127 38.20 39.90 38.30 39.89 40.00 0.01 0.00 -0.00 3.32 78 71

51177 37.60 39.00 37.20 38.90 40.00 -0.03 0.00 -0.04 -8.69 66 83

51227 37.00 38.60 37.70 38.29 40.00 0.09 0.00 0.12 26.12 101 48

51277 37.00 38.30 36.90 38.29 40.00 0.01 0.00 -0.08 2.12 77 72

51327 37.00 38.30 36.90 38.29 40.00 0.01 0.00 0.00 2.12 77 72

51377 37.00 38.00 37.30 37.94 40.00 0.05 0.00 0.04 15.17 90 59

51427 36.20 37.80 36.50 37.74 40.00 0.05 0.00 0.00 15.77 90 59

51477 35.90 36.80 36.10 36.78 40.00 0.05 0.00 -0.00 15.67 90 59

51527 35.90 36.90 35.60 36.85 40.00 0.00 0.00 -0.05 0.46 75 74

51577 35.50 36.20 35.60 36.19 40.00 0.05 0.00 0.05 14.42 89 60

51627 35.50 35.20 35.10 35.11 40.00 0.01 0.00 -0.04 2.68 77 72

51677 34.80 34.70 34.20 34.50 40.00 -0.00 0.00 -0.01 -1.49 73 76

51727 34.60 35.10 34.70 35.09 40.00 0.06 0.00 0.06 17.72 92 57

51777 34.10 33.80 33.70 33.71 40.00 0.02 0.00 -0.04 6.86 81 68

51827 33.90 33.90 33.30 33.70 40.00 0.00 0.00 -0.02 0.90 75 74

51877 34.20 33.90 33.80 33.81 40.00 0.02 0.00 0.02 6.57 81 68

51927 33.60 33.80 33.10 33.66 40.00 0.01 0.00 -0.01 4.01 79 70

51977 33.70 33.70 33.30 33.61 40.00 0.02 0.00 0.01 7.16 82 67

52027 33.30 33.50 32.60 33.23 40.00 -0.00 0.00 -0.03 -0.70 74 75

WallE3_WallTrackTuning_V5 using ‘tweaked’ steering value. Average LCCorr = 36.9 cm

After running this test a couple more times to assure myself that I wasn’t dreaming, I started to play around with the PID values to see if I could get a bit better performance. The first run (shown above) produced an average offset distance of about 36.9cm. A subsequent run showed an average of 26.4cm. This implies that the steering value ‘tweak’ isn’t really doing much. For instance, this line:

Msec	LF	LC	LR	LCCorr	OffCm	tErr	LastI	LastD	Out	Lspd	Rspd
739120	21.40	20.40	19.30	19.01	40.00	-0.00	0.00	-0.08	-0.02	74	75

1 2	Msec LF LC LR LCCorr OffCm tErr LastI LastD Out Lspd Rspd 739120 21.40 20.40 19.30 19.01 40.00 -0.00 0.00 -0.08 -0.02 74 75

shows that for a corrected distance of 28.13cm, the calculated steerval is (21.4-19.3) /100 = 2.1/100 = 0.021, the ‘offset_factor’ is (40-19.3)/100 = 20.7/100 = 0.207. So, the ‘tweaked’ steerval should be 0.228 and should produce an error term of +0.228 but it is only reporting an error of 0.00!

I added the steerval and the offset_factor to the output telemetry and redid the run with 300,0,0 as before. This time I got

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
76092	37.70	39.10	37.10	38.87	0.06	-0.01	40.00	-0.05	0.00	0.05	-14.61	60	89

1 2	Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd 76092 37.70 39.10 37.10 38.87 0.06 -0.01 40.00 -0.05 0.00 0.05 -14.61 60 89

In this case, steerval = (37.7 – 37.1)/100 = +0.06 (pointing slightly away from the wall), tweak = (38.87-40)/100 = -1.13/100 = -0.013, so the total error of +0.0487, giving left/right motor speeds of 60/89, i.e. correcting slightly back toward the wall – oops! It looks like I need to use a slightly smaller divisor for the ‘tweak’ calculation.

float offset_factor = (glLeftCentCorrCm - OffCm) / 100.f; //01/28/23 from https://www.fpaynter.com/2023/01/walle3-wall-track-tuning-review/

1	float offset_factor = (glLeftCentCorrCm - OffCm) / 100.f; //01/28/23 from https://www.fpaynter.com/2023/01/walle3-wall-track-tuning-review/

I added the divisor for the offset_factor to the parameter list for ‘Tuning_V5’ and redid the run, using ‘100’ to make sure I got the same result as before.

I was able to confirm that using this method with the ‘tweak’ divisor as a parameter I got pretty much the same behavior. Then I started reducing the divisor to see what would happen as the ‘tweak’ became more of a factor in the PID calculation.

For a divisor of 75, we got the following output:

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
122492	39.20	42.10	38.80	41.99	0.04	0.03	40.00	-0.07	0.00	-0.07	-19.96	55	94
122542	40.20	42.00	38.80	41.89	0.04	0.03	40.00	-0.07	0.00	0.00	-19.56	55	94
122592	40.20	42.00	39.60	41.75	0.06	0.02	40.00	-0.08	0.00	-0.02	-25.02	49	100
122642	40.00	42.20	39.10	41.65	0.09	0.02	40.00	-0.11	0.00	-0.03	-33.59	41	108
122692	39.60	42.70	38.30	41.55	0.13	0.02	40.00	-0.15	0.00	-0.04	-45.18	29	120
122742	39.50	42.00	38.80	41.67	0.07	0.02	40.00	-0.09	0.00	0.06	-27.66	47	102
122792	39.10	41.30	39.30	41.27	-0.02	0.02	40.00	0.00	0.00	0.10	0.91	75	74
122842	39.10	41.10	39.60	40.93	-0.05	0.01	40.00	0.04	0.00	0.03	11.27	86	63
122892	39.80	41.30	38.90	40.76	0.09	0.01	40.00	-0.10	0.00	-0.14	-30.04	44	105
122942	39.20	40.80	39.10	40.79	0.01	0.01	40.00	-0.02	0.00	0.08	-6.17	68	81
122992	39.20	40.80	39.10	40.79	0.01	0.01	40.00	-0.02	0.00	0.00	-6.17	68	81
123042	38.40	40.50	38.90	40.34	-0.05	0.00	40.00	0.05	0.00	0.07	13.66	88	61
123092	37.20	40.50	38.60	39.23	-0.14	-0.01	40.00	0.15	0.00	0.10	45.06	120	29
123142	37.10	39.40	37.30	39.37	-0.02	-0.01	40.00	0.03	0.00	-0.12	8.50	83	66
123192	36.10	38.70	37.10	38.08	-0.10	-0.03	40.00	0.13	0.00	0.10	37.70	112	37
123242	34.40	38.80	36.00	37.23	-0.16	-0.04	40.00	0.20	0.00	0.07	59.09	127	15
123292	34.60	36.80	35.20	36.58	-0.06	-0.05	40.00	0.11	0.00	-0.09	31.66	106	43
123342	34.00	35.60	34.10	35.59	-0.01	-0.06	40.00	0.07	0.00	-0.04	20.62	95	54
123392	33.10	35.30	34.10	35.29	-0.01	-0.06	40.00	0.07	0.00	0.00	21.82	96	53
123442	33.10	35.30	33.40	35.25	-0.03	-0.06	40.00	0.09	0.00	0.02	28.01	103	46
123492	32.70	34.70	32.50	34.68	0.02	-0.07	40.00	0.05	0.00	-0.04	15.29	90	59
123542	32.40	34.50	31.50	34.05	0.09	-0.08	40.00	-0.01	0.00	-0.06	-3.19	71	78
123592	32.10	34.10	31.80	34.05	0.03	-0.08	40.00	0.05	0.00	0.06	14.80	89	60
123642	31.80	33.80	31.90	33.79	-0.01	-0.08	40.00	0.09	0.00	0.04	27.82	102	47
123692	31.50	33.90	31.20	33.85	0.03	-0.08	40.00	0.05	0.00	-0.04	15.60	90	59
123742	31.10	33.90	30.40	33.63	0.07	-0.08	40.00	0.01	0.00	-0.04	4.48	79	70
123792	31.20	33.30	30.30	32.86	0.09	-0.10	40.00	0.01	0.00	-0.01	1.54	76	73
123842	31.20	33.30	30.30	32.86	0.09	-0.10	40.00	0.01	0.00	0.00	1.54	76	73
123892	30.80	33.00	30.10	32.74	0.07	-0.10	40.00	0.03	0.00	0.02	8.05	83	66
123942	30.50	32.80	30.30	32.78	0.02	-0.10	40.00	0.08	0.00	0.05	22.89	97	52
123992	30.70	31.50	29.70	30.99	0.10	-0.12	40.00	0.02	0.00	-0.06	6.03	81	68
124042	30.50	32.30	29.50	31.78	0.10	-0.11	40.00	0.01	0.00	-0.01	2.88	77	72
124092	29.90	31.80	29.10	31.47	0.08	-0.11	40.00	0.03	0.00	0.02	10.12	85	64
124142	29.30	31.50	29.10	31.48	0.02	-0.11	40.00	0.09	0.00	0.06	28.08	103	46
124192	28.90	31.10	29.10	31.08	-0.02	-0.12	40.00	0.14	0.00	0.05	41.68	116	33
124242	29.30	31.20	28.60	30.95	0.07	-0.12	40.00	0.05	0.00	-0.09	15.19	90	59
124292	29.60	31.10	28.40	30.38	0.12	-0.13	40.00	0.01	0.00	-0.04	2.47	77	72
124342	29.70	31.50	28.50	30.77	0.12	-0.12	40.00	0.00	0.00	-0.01	0.91	75	74
124392	30.20	32.30	28.70	31.15	0.15	-0.12	40.00	-0.03	0.00	-0.03	-9.58	65	84
124442	31.50	32.80	29.50	30.76	0.20	-0.12	40.00	-0.08	0.00	-0.04	-23.03	51	98
124492	32.80	33.40	29.90	29.24	0.29	-0.14	40.00	-0.15	0.00	-0.07	-43.97	31	118
124542	34.30	35.70	31.10	30.40	0.32	-0.13	40.00	-0.19	0.00	-0.05	-57.59	17	127
124592	34.70	35.20	32.50	32.57	0.22	-0.10	40.00	-0.12	0.00	0.07	-36.30	38	111
124642	36.00	38.20	32.10	30.20	0.39	-0.13	40.00	-0.26	0.00	-0.14	-77.81	0	127
124692	35.90	38.20	34.20	36.46	0.17	-0.05	40.00	-0.12	0.00	0.14	-36.84	38	111
124742	36.90	38.40	32.90	34.49	0.26	-0.07	40.00	-0.19	0.00	-0.06	-55.95	19	127
124792	36.80	38.70	35.10	36.94	0.17	-0.04	40.00	-0.13	0.00	0.06	-38.75	36	113
124842	37.30	39.30	35.60	37.51	0.17	-0.03	40.00	-0.14	0.00	-0.01	-41.04	33	116
124892	37.50	39.20	35.80	37.41	0.17	-0.03	40.00	-0.14	0.00	0.00	-40.66	34	115
124942	37.10	39.70	35.80	38.63	0.13	-0.02	40.00	-0.11	0.00	0.02	-33.51	41	108
124992	38.00	39.90	36.70	38.82	0.13	-0.02	40.00	-0.11	0.00	-0.00	-34.29	40	109
125042	37.00	40.00	36.20	39.59	0.08	-0.01	40.00	-0.07	0.00	0.04	-22.34	52	97
125092	37.60	39.80	36.80	39.39	0.08	-0.01	40.00	-0.07	0.00	0.00	-21.55	53	96
125142	37.80	40.30	36.70	39.52	0.11	-0.01	40.00	-0.10	0.00	-0.03	-31.06	43	106
125192	37.30	39.80	36.90	39.70	0.04	-0.00	40.00	-0.04	0.00	0.07	-10.78	64	85
125242	36.70	39.60	37.10	39.50	-0.04	-0.01	40.00	0.05	0.00	0.08	14.01	89	60
125292	38.20	39.70	36.60	38.09	0.16	-0.03	40.00	-0.13	0.00	-0.18	-40.37	34	115
125342	37.30	39.80	35.90	38.56	0.14	-0.02	40.00	-0.12	0.00	0.01	-36.23	38	111
125392	37.00	39.90	36.90	39.89	0.01	-0.00	40.00	-0.01	0.00	0.11	-2.57	72	77
125442	37.10	39.10	35.90	37.52	0.16	-0.03	40.00	-0.13	0.00	-0.12	-38.06	36	113
125492	37.10	39.60	36.70	39.50	0.04	-0.01	40.00	-0.03	0.00	0.09	-9.99	65	84
125542	36.40	38.90	36.70	38.80	0.04	-0.02	40.00	-0.02	0.00	0.01	-7.19	67	82
125592	36.70	39.10	35.70	38.47	0.10	-0.02	40.00	-0.08	0.00	-0.06	-23.88	51	98
125642	35.70	38.70	36.70	38.08	-0.10	-0.03	40.00	0.13	0.00	0.21	37.70	112	37
125692	35.50	38.10	35.80	38.04	-0.03	-0.03	40.00	0.06	0.00	-0.07	16.82	91	58
125742	36.20	38.10	35.90	38.04	0.03	-0.03	40.00	-0.00	0.00	-0.06	-1.18	73	76
125792	35.50	37.60	35.50	37.60	0.00	-0.03	40.00	0.03	0.00	0.04	9.60	84	65
125842	34.80	37.80	34.70	37.79	0.01	-0.03	40.00	0.02	0.00	-0.01	5.82	80	69
125892	35.00	37.40	34.90	37.39	0.01	-0.03	40.00	0.02	0.00	0.01	7.42	82	67
125942	35.20	36.40	34.50	36.11	0.07	-0.05	40.00	-0.02	0.00	-0.04	-5.44	69	80
125992	34.30	36.70	34.40	36.69	-0.01	-0.04	40.00	0.05	0.00	0.07	16.22	91	58
126042	34.80	36.60	35.20	36.50	-0.04	-0.05	40.00	0.09	0.00	0.03	25.98	100	49
126092	34.50	35.80	32.90	34.35	0.16	-0.08	40.00	-0.08	0.00	-0.17	-25.40	49	100
126142	34.30	36.10	34.10	36.08	0.02	-0.05	40.00	0.03	0.00	0.12	9.69	84	65
126192	33.30	36.50	33.40	36.49	-0.01	-0.05	40.00	0.06	0.00	0.02	17.02	92	57
126242	33.70	36.40	32.60	35.69	0.11	-0.06	40.00	-0.05	0.00	-0.11	-15.77	59	90
126292	33.40	35.40	33.30	35.35	-0.03	-0.06	40.00	0.09	0.00	0.14	27.61	102	47
126342	33.00	36.00	32.40	35.79	0.06	-0.06	40.00	-0.00	0.00	-0.10	-1.16	73	76
126392	33.00	35.90	32.10	35.43	0.09	-0.06	40.00	-0.03	0.00	-0.03	-8.72	66	83
126442	32.60	36.10	32.30	36.05	0.03	-0.05	40.00	0.02	0.00	0.05	6.81	81	68
126492	32.40	34.70	32.10	34.65	0.03	-0.07	40.00	0.04	0.00	0.02	12.40	87	62
126542	32.50	34.70	32.10	34.61	0.04	-0.07	40.00	0.03	0.00	-0.01	9.56	84	65
126592	32.40	33.70	31.30	33.04	0.11	-0.09	40.00	-0.02	0.00	-0.05	-5.18	69	80
126642	32.10	33.90	31.50	33.70	0.06	-0.08	40.00	0.02	0.00	0.04	7.19	82	67
126692	31.50	33.70	31.50	33.70	0.00	-0.08	40.00	0.08	0.00	0.06	25.20	100	49
126742	32.20	33.40	30.70	32.21	0.15	-0.10	40.00	-0.05	0.00	-0.13	-13.82	61	88
126792	31.90	34.10	30.90	33.55	0.10	-0.09	40.00	-0.01	0.00	0.03	-4.20	70	79
126842	31.70	33.90	31.40	33.85	0.03	-0.08	40.00	0.05	0.00	0.07	15.60	90	59
126892	31.60	33.70	31.50	33.69	0.01	-0.08	40.00	0.07	0.00	0.02	22.22	97	52
126942	32.50	33.60	31.00	32.40	0.15	-0.10	40.00	-0.05	0.00	-0.12	-14.60	60	89
126992	31.80	33.80	30.90	33.36	0.09	-0.09	40.00	-0.00	0.00	0.05	-0.43	74	75
127042	31.30	33.50	31.10	33.48	0.02	-0.09	40.00	0.07	0.00	0.07	20.09	95	54
127092	30.50	33.40	31.40	32.96	-0.09	-0.09	40.00	0.18	0.00	0.12	55.15	127	19
127142	28.80	32.00	30.40	30.70	-0.16	-0.12	40.00	0.28	0.00	0.10	85.19	127	0
127192	27.60	30.30	29.80	28.04	-0.22	-0.16	40.00	0.38	0.00	0.10	113.84	127	0
127242	26.90	27.70	29.10	25.63	-0.22	-0.19	40.00	0.41	0.00	0.03	123.46	127	0
127292	25.00	27.90	27.80	26.48	-0.18	-0.18	40.00	0.36	0.00	-0.05	108.08	127	0
127342	24.40	25.80	26.00	25.38	-0.10	-0.19	40.00	0.29	0.00	-0.07	88.46	127	0
127392	23.80	25.30	24.10	25.26	-0.03	-0.20	40.00	0.23	0.00	-0.07	67.95	127	7
127442	22.80	24.30	23.20	24.24	-0.04	-0.21	40.00	0.25	0.00	0.02	75.05	127	0
127492	22.70	23.40	22.60	23.40	0.01	-0.22	40.00	0.21	0.00	-0.04	63.42	127	11
127542	22.40	23.70	21.80	23.56	0.06	-0.22	40.00	0.16	0.00	-0.05	47.75	122	27
127592	22.60	24.10	21.40	23.54	0.12	-0.22	40.00	0.10	0.00	-0.06	29.83	104	45
127642	22.90	23.60	21.80	23.14	0.11	-0.22	40.00	0.11	0.00	0.02	34.44	109	40
127692	22.90	23.60	21.80	23.14	0.11	-0.22	40.00	0.11	0.00	0.00	34.44	109	40
127742	23.90	24.40	21.60	22.42	0.23	-0.23	40.00	0.00	0.00	-0.11	1.31	76	73
127792	25.30	26.30	22.40	23.03	0.29	-0.23	40.00	-0.06	0.00	-0.07	-19.11	55	94
127842	26.10	28.10	23.10	24.38	0.30	-0.21	40.00	-0.09	0.00	-0.03	-27.53	47	102
127892	27.50	28.20	24.00	23.30	0.35	-0.22	40.00	-0.13	0.00	-0.04	-38.19	36	113
127942	27.80	29.90	25.00	26.41	0.28	-0.18	40.00	-0.10	0.00	0.03	-29.64	45	104
127992	29.70	30.30	26.80	26.53	0.29	-0.18	40.00	-0.11	0.00	-0.01	-33.12	41	108
128042	30.60	31.30	26.40	23.89	0.42	-0.21	40.00	-0.21	0.00	-0.09	-61.54	13	127
128092	30.90	31.30	26.40	23.89	0.42	-0.21	40.00	-0.21	0.00	0.00	-61.54	13	127
128142	30.90	32.00	27.80	27.51	0.31	-0.17	40.00	-0.14	0.00	0.06	-43.04	31	118
128192	30.80	31.80	28.50	29.22	0.23	-0.14	40.00	-0.09	0.00	0.06	-25.89	49	100
128242	31.00	32.10	28.90	29.91	0.21	-0.13	40.00	-0.08	0.00	0.01	-22.63	52	97
128292	31.20	32.80	29.10	30.56	0.21	-0.13	40.00	-0.08	0.00	-0.01	-25.24	49	100
128342	31.20	32.90	29.50	31.40	0.17	-0.11	40.00	-0.06	0.00	0.03	-16.60	58	91
128392	31.90	34.60	29.90	32.45	0.20	-0.10	40.00	-0.10	0.00	-0.04	-29.79	45	104
128442	31.60	34.30	30.70	33.85	0.09	-0.08	40.00	-0.01	0.00	0.09	-2.40	72	77
128492	32.20	34.10	30.30	32.18	0.19	-0.10	40.00	-0.09	0.00	-0.08	-25.70	49	100
128542	32.20	34.10	30.30	32.18	0.19	-0.10	40.00	-0.09	0.00	0.00	-25.70	49	100
128592	32.20	34.80	30.50	33.21	0.17	-0.09	40.00	-0.08	0.00	0.01	-23.86	51	98
128642	32.70	34.60	30.50	32.02	0.22	-0.11	40.00	-0.11	0.00	-0.03	-34.08	40	109
128692	32.70	34.90	30.90	33.12	0.18	-0.09	40.00	-0.09	0.00	0.03	-26.50	48	101
128742	32.60	34.10	31.60	33.55	0.10	-0.09	40.00	-0.01	0.00	0.07	-4.20	70	79
128792	32.50	34.70	31.10	33.62	0.14	-0.09	40.00	-0.05	0.00	-0.04	-16.46	58	91
128842	32.40	34.60	31.80	34.40	0.06	-0.07	40.00	0.01	0.00	0.07	4.41	79	70
128892	32.70	34.70	30.90	32.93	0.18	-0.09	40.00	-0.09	0.00	-0.10	-25.74	49	100
128942	32.40	35.40	31.20	34.58	0.12	-0.07	40.00	-0.05	0.00	0.04	-14.33	60	89
128992	32.20	34.60	32.10	34.59	0.01	-0.07	40.00	0.06	0.00	0.11	18.62	93	56
129042	32.90	33.80	31.90	33.25	0.10	-0.09	40.00	-0.01	0.00	-0.07	-3.02	71	78
129092	32.00	34.20	31.50	34.06	0.05	-0.08	40.00	0.03	0.00	0.04	8.76	83	66
129142	31.50	33.60	31.90	33.51	-0.04	-0.09	40.00	0.13	0.00	0.10	37.95	112	37
129192	32.00	34.00	31.50	33.86	0.05	-0.08	40.00	0.03	0.00	-0.09	9.55	84	65
129242	31.80	34.00	30.70	33.34	0.11	-0.09	40.00	-0.02	0.00	-0.05	-6.35	68	81
129292	31.90	34.30	30.80	33.63	0.11	-0.08	40.00	-0.03	0.00	-0.00	-7.53	67	82
129342	32.90	34.00	30.40	30.78	0.25	-0.12	40.00	-0.13	0.00	-0.10	-38.11	36	113
129392	32.40	34.70	30.30	32.33	0.21	-0.10	40.00	-0.11	0.00	0.02	-32.32	42	107
129442	33.30	34.90	31.00	32.07	0.23	-0.11	40.00	-0.12	0.00	-0.02	-37.28	37	112
129492	32.60	35.20	31.30	34.25	0.13	-0.08	40.00	-0.05	0.00	0.07	-15.99	59	90
129542	32.50	33.80	31.60	33.36	0.09	-0.09	40.00	-0.00	0.00	0.05	-0.43	74	75
129592	32.50	33.80	31.60	33.36	0.09	-0.09	40.00	-0.00	0.00	0.00	-0.43	74	75
129642	32.20	33.60	32.10	33.59	0.01	-0.09	40.00	0.08	0.00	0.08	22.62	97	52
129692	31.60	33.90	31.50	33.89	0.01	-0.08	40.00	0.07	0.00	-0.00	21.42	96	53
129742	30.90	33.30	30.80	33.29	0.01	-0.09	40.00	0.08	0.00	0.01	23.82	98	51
129792	30.50	33.00	29.70	32.66	0.08	-0.10	40.00	0.02	0.00	-0.06	5.37	80	69
129842	30.60	32.40	30.10	32.27	0.05	-0.10	40.00	0.05	0.00	0.04	15.93	90	59
129892	29.90	31.90	29.10	31.57	0.08	-0.11	40.00	0.03	0.00	-0.02	9.72	84	65
129942	29.90	31.30	28.20	29.87	0.17	-0.14	40.00	-0.03	0.00	-0.07	-10.50	64	85
129992	29.30	31.30	28.20	29.87	0.17	-0.14	40.00	-0.03	0.00	0.00	-10.50	64	85
130042	29.30	31.00	28.30	30.50	0.10	-0.13	40.00	0.03	0.00	0.06	8.00	83	66
130092	29.30	30.60	28.40	30.20	0.09	-0.13	40.00	0.04	0.00	0.01	12.20	87	62
130142	28.60	31.00	27.50	30.40	0.11	-0.13	40.00	0.02	0.00	-0.02	5.41	80	69
130192	28.30	30.00	27.50	29.69	0.08	-0.14	40.00	0.06	0.00	0.04	17.24	92	57
130242	27.20	29.80	26.60	29.63	0.06	-0.14	40.00	0.08	0.00	0.02	23.50	98	51
130292	27.20	27.90	26.60	27.74	0.06	-0.16	40.00	0.10	0.00	0.03	31.05	106	43
130342	27.10	28.10	26.00	27.55	0.11	-0.17	40.00	0.06	0.00	-0.05	16.79	91	58
130392	26.70	28.00	25.10	26.87	0.16	-0.18	40.00	0.02	0.00	-0.04	4.54	79	70
130442	26.10	27.90	25.30	27.61	0.08	-0.17	40.00	0.09	0.00	0.07	25.56	100	49
130492	25.60	27.20	24.30	26.46	0.13	-0.18	40.00	0.05	0.00	-0.03	15.14	90	59
130542	25.80	26.80	23.90	25.29	0.19	-0.20	40.00	0.01	0.00	-0.04	1.85	76	73
130592	24.80	27.20	24.00	26.92	0.08	-0.17	40.00	0.09	0.00	0.09	28.33	103	46
130642	24.70	25.80	24.10	25.65	0.06	-0.19	40.00	0.13	0.00	0.04	39.40	114	35
130692	25.00	26.20	23.00	24.57	0.20	-0.21	40.00	0.01	0.00	-0.13	1.72	76	73
130742	25.80	26.90	23.30	24.35	0.25	-0.21	40.00	-0.04	0.00	-0.05	-12.40	62	87
130792	32.20	29.80	23.40	10.19	0.88	-0.40	40.00	-0.48	0.00	-0.44	-144.74	0	127

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101

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103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

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123

124

125

126

127

128

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135

136

137

138

139

140

141

142

143

144

145

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149

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168

Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd

122492 39.20 42.10 38.80 41.99 0.04 0.03 40.00 -0.07 0.00 -0.07 -19.96 55 94

122542 40.20 42.00 38.80 41.89 0.04 0.03 40.00 -0.07 0.00 0.00 -19.56 55 94

122592 40.20 42.00 39.60 41.75 0.06 0.02 40.00 -0.08 0.00 -0.02 -25.02 49 100

122642 40.00 42.20 39.10 41.65 0.09 0.02 40.00 -0.11 0.00 -0.03 -33.59 41 108

122692 39.60 42.70 38.30 41.55 0.13 0.02 40.00 -0.15 0.00 -0.04 -45.18 29 120

122742 39.50 42.00 38.80 41.67 0.07 0.02 40.00 -0.09 0.00 0.06 -27.66 47 102

122792 39.10 41.30 39.30 41.27 -0.02 0.02 40.00 0.00 0.00 0.10 0.91 75 74

122842 39.10 41.10 39.60 40.93 -0.05 0.01 40.00 0.04 0.00 0.03 11.27 86 63

122892 39.80 41.30 38.90 40.76 0.09 0.01 40.00 -0.10 0.00 -0.14 -30.04 44 105

122942 39.20 40.80 39.10 40.79 0.01 0.01 40.00 -0.02 0.00 0.08 -6.17 68 81

122992 39.20 40.80 39.10 40.79 0.01 0.01 40.00 -0.02 0.00 0.00 -6.17 68 81

123042 38.40 40.50 38.90 40.34 -0.05 0.00 40.00 0.05 0.00 0.07 13.66 88 61

123092 37.20 40.50 38.60 39.23 -0.14 -0.01 40.00 0.15 0.00 0.10 45.06 120 29

123142 37.10 39.40 37.30 39.37 -0.02 -0.01 40.00 0.03 0.00 -0.12 8.50 83 66

123192 36.10 38.70 37.10 38.08 -0.10 -0.03 40.00 0.13 0.00 0.10 37.70 112 37

123242 34.40 38.80 36.00 37.23 -0.16 -0.04 40.00 0.20 0.00 0.07 59.09 127 15

123292 34.60 36.80 35.20 36.58 -0.06 -0.05 40.00 0.11 0.00 -0.09 31.66 106 43

123342 34.00 35.60 34.10 35.59 -0.01 -0.06 40.00 0.07 0.00 -0.04 20.62 95 54

123392 33.10 35.30 34.10 35.29 -0.01 -0.06 40.00 0.07 0.00 0.00 21.82 96 53

123442 33.10 35.30 33.40 35.25 -0.03 -0.06 40.00 0.09 0.00 0.02 28.01 103 46

123492 32.70 34.70 32.50 34.68 0.02 -0.07 40.00 0.05 0.00 -0.04 15.29 90 59

123542 32.40 34.50 31.50 34.05 0.09 -0.08 40.00 -0.01 0.00 -0.06 -3.19 71 78

123592 32.10 34.10 31.80 34.05 0.03 -0.08 40.00 0.05 0.00 0.06 14.80 89 60

123642 31.80 33.80 31.90 33.79 -0.01 -0.08 40.00 0.09 0.00 0.04 27.82 102 47

123692 31.50 33.90 31.20 33.85 0.03 -0.08 40.00 0.05 0.00 -0.04 15.60 90 59

123742 31.10 33.90 30.40 33.63 0.07 -0.08 40.00 0.01 0.00 -0.04 4.48 79 70

123792 31.20 33.30 30.30 32.86 0.09 -0.10 40.00 0.01 0.00 -0.01 1.54 76 73

123842 31.20 33.30 30.30 32.86 0.09 -0.10 40.00 0.01 0.00 0.00 1.54 76 73

123892 30.80 33.00 30.10 32.74 0.07 -0.10 40.00 0.03 0.00 0.02 8.05 83 66

123942 30.50 32.80 30.30 32.78 0.02 -0.10 40.00 0.08 0.00 0.05 22.89 97 52

123992 30.70 31.50 29.70 30.99 0.10 -0.12 40.00 0.02 0.00 -0.06 6.03 81 68

124042 30.50 32.30 29.50 31.78 0.10 -0.11 40.00 0.01 0.00 -0.01 2.88 77 72

124092 29.90 31.80 29.10 31.47 0.08 -0.11 40.00 0.03 0.00 0.02 10.12 85 64

124142 29.30 31.50 29.10 31.48 0.02 -0.11 40.00 0.09 0.00 0.06 28.08 103 46

124192 28.90 31.10 29.10 31.08 -0.02 -0.12 40.00 0.14 0.00 0.05 41.68 116 33

124242 29.30 31.20 28.60 30.95 0.07 -0.12 40.00 0.05 0.00 -0.09 15.19 90 59

124292 29.60 31.10 28.40 30.38 0.12 -0.13 40.00 0.01 0.00 -0.04 2.47 77 72

124342 29.70 31.50 28.50 30.77 0.12 -0.12 40.00 0.00 0.00 -0.01 0.91 75 74

124392 30.20 32.30 28.70 31.15 0.15 -0.12 40.00 -0.03 0.00 -0.03 -9.58 65 84

124442 31.50 32.80 29.50 30.76 0.20 -0.12 40.00 -0.08 0.00 -0.04 -23.03 51 98

124492 32.80 33.40 29.90 29.24 0.29 -0.14 40.00 -0.15 0.00 -0.07 -43.97 31 118

124542 34.30 35.70 31.10 30.40 0.32 -0.13 40.00 -0.19 0.00 -0.05 -57.59 17 127

124592 34.70 35.20 32.50 32.57 0.22 -0.10 40.00 -0.12 0.00 0.07 -36.30 38 111

124642 36.00 38.20 32.10 30.20 0.39 -0.13 40.00 -0.26 0.00 -0.14 -77.81 0 127

124692 35.90 38.20 34.20 36.46 0.17 -0.05 40.00 -0.12 0.00 0.14 -36.84 38 111

124742 36.90 38.40 32.90 34.49 0.26 -0.07 40.00 -0.19 0.00 -0.06 -55.95 19 127

124792 36.80 38.70 35.10 36.94 0.17 -0.04 40.00 -0.13 0.00 0.06 -38.75 36 113

124842 37.30 39.30 35.60 37.51 0.17 -0.03 40.00 -0.14 0.00 -0.01 -41.04 33 116

124892 37.50 39.20 35.80 37.41 0.17 -0.03 40.00 -0.14 0.00 0.00 -40.66 34 115

124942 37.10 39.70 35.80 38.63 0.13 -0.02 40.00 -0.11 0.00 0.02 -33.51 41 108

124992 38.00 39.90 36.70 38.82 0.13 -0.02 40.00 -0.11 0.00 -0.00 -34.29 40 109

125042 37.00 40.00 36.20 39.59 0.08 -0.01 40.00 -0.07 0.00 0.04 -22.34 52 97

125092 37.60 39.80 36.80 39.39 0.08 -0.01 40.00 -0.07 0.00 0.00 -21.55 53 96

125142 37.80 40.30 36.70 39.52 0.11 -0.01 40.00 -0.10 0.00 -0.03 -31.06 43 106

125192 37.30 39.80 36.90 39.70 0.04 -0.00 40.00 -0.04 0.00 0.07 -10.78 64 85

125242 36.70 39.60 37.10 39.50 -0.04 -0.01 40.00 0.05 0.00 0.08 14.01 89 60

125292 38.20 39.70 36.60 38.09 0.16 -0.03 40.00 -0.13 0.00 -0.18 -40.37 34 115

125342 37.30 39.80 35.90 38.56 0.14 -0.02 40.00 -0.12 0.00 0.01 -36.23 38 111

125392 37.00 39.90 36.90 39.89 0.01 -0.00 40.00 -0.01 0.00 0.11 -2.57 72 77

125442 37.10 39.10 35.90 37.52 0.16 -0.03 40.00 -0.13 0.00 -0.12 -38.06 36 113

125492 37.10 39.60 36.70 39.50 0.04 -0.01 40.00 -0.03 0.00 0.09 -9.99 65 84

125542 36.40 38.90 36.70 38.80 0.04 -0.02 40.00 -0.02 0.00 0.01 -7.19 67 82

125592 36.70 39.10 35.70 38.47 0.10 -0.02 40.00 -0.08 0.00 -0.06 -23.88 51 98

125642 35.70 38.70 36.70 38.08 -0.10 -0.03 40.00 0.13 0.00 0.21 37.70 112 37

125692 35.50 38.10 35.80 38.04 -0.03 -0.03 40.00 0.06 0.00 -0.07 16.82 91 58

125742 36.20 38.10 35.90 38.04 0.03 -0.03 40.00 -0.00 0.00 -0.06 -1.18 73 76

125792 35.50 37.60 35.50 37.60 0.00 -0.03 40.00 0.03 0.00 0.04 9.60 84 65

125842 34.80 37.80 34.70 37.79 0.01 -0.03 40.00 0.02 0.00 -0.01 5.82 80 69

125892 35.00 37.40 34.90 37.39 0.01 -0.03 40.00 0.02 0.00 0.01 7.42 82 67

125942 35.20 36.40 34.50 36.11 0.07 -0.05 40.00 -0.02 0.00 -0.04 -5.44 69 80

125992 34.30 36.70 34.40 36.69 -0.01 -0.04 40.00 0.05 0.00 0.07 16.22 91 58

126042 34.80 36.60 35.20 36.50 -0.04 -0.05 40.00 0.09 0.00 0.03 25.98 100 49

126092 34.50 35.80 32.90 34.35 0.16 -0.08 40.00 -0.08 0.00 -0.17 -25.40 49 100

126142 34.30 36.10 34.10 36.08 0.02 -0.05 40.00 0.03 0.00 0.12 9.69 84 65

126192 33.30 36.50 33.40 36.49 -0.01 -0.05 40.00 0.06 0.00 0.02 17.02 92 57

126242 33.70 36.40 32.60 35.69 0.11 -0.06 40.00 -0.05 0.00 -0.11 -15.77 59 90

126292 33.40 35.40 33.30 35.35 -0.03 -0.06 40.00 0.09 0.00 0.14 27.61 102 47

126342 33.00 36.00 32.40 35.79 0.06 -0.06 40.00 -0.00 0.00 -0.10 -1.16 73 76

126392 33.00 35.90 32.10 35.43 0.09 -0.06 40.00 -0.03 0.00 -0.03 -8.72 66 83

126442 32.60 36.10 32.30 36.05 0.03 -0.05 40.00 0.02 0.00 0.05 6.81 81 68

126492 32.40 34.70 32.10 34.65 0.03 -0.07 40.00 0.04 0.00 0.02 12.40 87 62

126542 32.50 34.70 32.10 34.61 0.04 -0.07 40.00 0.03 0.00 -0.01 9.56 84 65

126592 32.40 33.70 31.30 33.04 0.11 -0.09 40.00 -0.02 0.00 -0.05 -5.18 69 80

126642 32.10 33.90 31.50 33.70 0.06 -0.08 40.00 0.02 0.00 0.04 7.19 82 67

126692 31.50 33.70 31.50 33.70 0.00 -0.08 40.00 0.08 0.00 0.06 25.20 100 49

126742 32.20 33.40 30.70 32.21 0.15 -0.10 40.00 -0.05 0.00 -0.13 -13.82 61 88

126792 31.90 34.10 30.90 33.55 0.10 -0.09 40.00 -0.01 0.00 0.03 -4.20 70 79

126842 31.70 33.90 31.40 33.85 0.03 -0.08 40.00 0.05 0.00 0.07 15.60 90 59

126892 31.60 33.70 31.50 33.69 0.01 -0.08 40.00 0.07 0.00 0.02 22.22 97 52

126942 32.50 33.60 31.00 32.40 0.15 -0.10 40.00 -0.05 0.00 -0.12 -14.60 60 89

126992 31.80 33.80 30.90 33.36 0.09 -0.09 40.00 -0.00 0.00 0.05 -0.43 74 75

127042 31.30 33.50 31.10 33.48 0.02 -0.09 40.00 0.07 0.00 0.07 20.09 95 54

127092 30.50 33.40 31.40 32.96 -0.09 -0.09 40.00 0.18 0.00 0.12 55.15 127 19

127142 28.80 32.00 30.40 30.70 -0.16 -0.12 40.00 0.28 0.00 0.10 85.19 127 0

127192 27.60 30.30 29.80 28.04 -0.22 -0.16 40.00 0.38 0.00 0.10 113.84 127 0

127242 26.90 27.70 29.10 25.63 -0.22 -0.19 40.00 0.41 0.00 0.03 123.46 127 0

127292 25.00 27.90 27.80 26.48 -0.18 -0.18 40.00 0.36 0.00 -0.05 108.08 127 0

127342 24.40 25.80 26.00 25.38 -0.10 -0.19 40.00 0.29 0.00 -0.07 88.46 127 0

127392 23.80 25.30 24.10 25.26 -0.03 -0.20 40.00 0.23 0.00 -0.07 67.95 127 7

127442 22.80 24.30 23.20 24.24 -0.04 -0.21 40.00 0.25 0.00 0.02 75.05 127 0

127492 22.70 23.40 22.60 23.40 0.01 -0.22 40.00 0.21 0.00 -0.04 63.42 127 11

127542 22.40 23.70 21.80 23.56 0.06 -0.22 40.00 0.16 0.00 -0.05 47.75 122 27

127592 22.60 24.10 21.40 23.54 0.12 -0.22 40.00 0.10 0.00 -0.06 29.83 104 45

127642 22.90 23.60 21.80 23.14 0.11 -0.22 40.00 0.11 0.00 0.02 34.44 109 40

127692 22.90 23.60 21.80 23.14 0.11 -0.22 40.00 0.11 0.00 0.00 34.44 109 40

127742 23.90 24.40 21.60 22.42 0.23 -0.23 40.00 0.00 0.00 -0.11 1.31 76 73

127792 25.30 26.30 22.40 23.03 0.29 -0.23 40.00 -0.06 0.00 -0.07 -19.11 55 94

127842 26.10 28.10 23.10 24.38 0.30 -0.21 40.00 -0.09 0.00 -0.03 -27.53 47 102

127892 27.50 28.20 24.00 23.30 0.35 -0.22 40.00 -0.13 0.00 -0.04 -38.19 36 113

127942 27.80 29.90 25.00 26.41 0.28 -0.18 40.00 -0.10 0.00 0.03 -29.64 45 104

127992 29.70 30.30 26.80 26.53 0.29 -0.18 40.00 -0.11 0.00 -0.01 -33.12 41 108

128042 30.60 31.30 26.40 23.89 0.42 -0.21 40.00 -0.21 0.00 -0.09 -61.54 13 127

128092 30.90 31.30 26.40 23.89 0.42 -0.21 40.00 -0.21 0.00 0.00 -61.54 13 127

128142 30.90 32.00 27.80 27.51 0.31 -0.17 40.00 -0.14 0.00 0.06 -43.04 31 118

128192 30.80 31.80 28.50 29.22 0.23 -0.14 40.00 -0.09 0.00 0.06 -25.89 49 100

128242 31.00 32.10 28.90 29.91 0.21 -0.13 40.00 -0.08 0.00 0.01 -22.63 52 97

128292 31.20 32.80 29.10 30.56 0.21 -0.13 40.00 -0.08 0.00 -0.01 -25.24 49 100

128342 31.20 32.90 29.50 31.40 0.17 -0.11 40.00 -0.06 0.00 0.03 -16.60 58 91

128392 31.90 34.60 29.90 32.45 0.20 -0.10 40.00 -0.10 0.00 -0.04 -29.79 45 104

128442 31.60 34.30 30.70 33.85 0.09 -0.08 40.00 -0.01 0.00 0.09 -2.40 72 77

128492 32.20 34.10 30.30 32.18 0.19 -0.10 40.00 -0.09 0.00 -0.08 -25.70 49 100

128542 32.20 34.10 30.30 32.18 0.19 -0.10 40.00 -0.09 0.00 0.00 -25.70 49 100

128592 32.20 34.80 30.50 33.21 0.17 -0.09 40.00 -0.08 0.00 0.01 -23.86 51 98

128642 32.70 34.60 30.50 32.02 0.22 -0.11 40.00 -0.11 0.00 -0.03 -34.08 40 109

128692 32.70 34.90 30.90 33.12 0.18 -0.09 40.00 -0.09 0.00 0.03 -26.50 48 101

128742 32.60 34.10 31.60 33.55 0.10 -0.09 40.00 -0.01 0.00 0.07 -4.20 70 79

128792 32.50 34.70 31.10 33.62 0.14 -0.09 40.00 -0.05 0.00 -0.04 -16.46 58 91

128842 32.40 34.60 31.80 34.40 0.06 -0.07 40.00 0.01 0.00 0.07 4.41 79 70

128892 32.70 34.70 30.90 32.93 0.18 -0.09 40.00 -0.09 0.00 -0.10 -25.74 49 100

128942 32.40 35.40 31.20 34.58 0.12 -0.07 40.00 -0.05 0.00 0.04 -14.33 60 89

128992 32.20 34.60 32.10 34.59 0.01 -0.07 40.00 0.06 0.00 0.11 18.62 93 56

129042 32.90 33.80 31.90 33.25 0.10 -0.09 40.00 -0.01 0.00 -0.07 -3.02 71 78

129092 32.00 34.20 31.50 34.06 0.05 -0.08 40.00 0.03 0.00 0.04 8.76 83 66

129142 31.50 33.60 31.90 33.51 -0.04 -0.09 40.00 0.13 0.00 0.10 37.95 112 37

129192 32.00 34.00 31.50 33.86 0.05 -0.08 40.00 0.03 0.00 -0.09 9.55 84 65

129242 31.80 34.00 30.70 33.34 0.11 -0.09 40.00 -0.02 0.00 -0.05 -6.35 68 81

129292 31.90 34.30 30.80 33.63 0.11 -0.08 40.00 -0.03 0.00 -0.00 -7.53 67 82

129342 32.90 34.00 30.40 30.78 0.25 -0.12 40.00 -0.13 0.00 -0.10 -38.11 36 113

129392 32.40 34.70 30.30 32.33 0.21 -0.10 40.00 -0.11 0.00 0.02 -32.32 42 107

129442 33.30 34.90 31.00 32.07 0.23 -0.11 40.00 -0.12 0.00 -0.02 -37.28 37 112

129492 32.60 35.20 31.30 34.25 0.13 -0.08 40.00 -0.05 0.00 0.07 -15.99 59 90

129542 32.50 33.80 31.60 33.36 0.09 -0.09 40.00 -0.00 0.00 0.05 -0.43 74 75

129592 32.50 33.80 31.60 33.36 0.09 -0.09 40.00 -0.00 0.00 0.00 -0.43 74 75

129642 32.20 33.60 32.10 33.59 0.01 -0.09 40.00 0.08 0.00 0.08 22.62 97 52

129692 31.60 33.90 31.50 33.89 0.01 -0.08 40.00 0.07 0.00 -0.00 21.42 96 53

129742 30.90 33.30 30.80 33.29 0.01 -0.09 40.00 0.08 0.00 0.01 23.82 98 51

129792 30.50 33.00 29.70 32.66 0.08 -0.10 40.00 0.02 0.00 -0.06 5.37 80 69

129842 30.60 32.40 30.10 32.27 0.05 -0.10 40.00 0.05 0.00 0.04 15.93 90 59

129892 29.90 31.90 29.10 31.57 0.08 -0.11 40.00 0.03 0.00 -0.02 9.72 84 65

129942 29.90 31.30 28.20 29.87 0.17 -0.14 40.00 -0.03 0.00 -0.07 -10.50 64 85

129992 29.30 31.30 28.20 29.87 0.17 -0.14 40.00 -0.03 0.00 0.00 -10.50 64 85

130042 29.30 31.00 28.30 30.50 0.10 -0.13 40.00 0.03 0.00 0.06 8.00 83 66

130092 29.30 30.60 28.40 30.20 0.09 -0.13 40.00 0.04 0.00 0.01 12.20 87 62

130142 28.60 31.00 27.50 30.40 0.11 -0.13 40.00 0.02 0.00 -0.02 5.41 80 69

130192 28.30 30.00 27.50 29.69 0.08 -0.14 40.00 0.06 0.00 0.04 17.24 92 57

130242 27.20 29.80 26.60 29.63 0.06 -0.14 40.00 0.08 0.00 0.02 23.50 98 51

130292 27.20 27.90 26.60 27.74 0.06 -0.16 40.00 0.10 0.00 0.03 31.05 106 43

130342 27.10 28.10 26.00 27.55 0.11 -0.17 40.00 0.06 0.00 -0.05 16.79 91 58

130392 26.70 28.00 25.10 26.87 0.16 -0.18 40.00 0.02 0.00 -0.04 4.54 79 70

130442 26.10 27.90 25.30 27.61 0.08 -0.17 40.00 0.09 0.00 0.07 25.56 100 49

130492 25.60 27.20 24.30 26.46 0.13 -0.18 40.00 0.05 0.00 -0.03 15.14 90 59

130542 25.80 26.80 23.90 25.29 0.19 -0.20 40.00 0.01 0.00 -0.04 1.85 76 73

130592 24.80 27.20 24.00 26.92 0.08 -0.17 40.00 0.09 0.00 0.09 28.33 103 46

130642 24.70 25.80 24.10 25.65 0.06 -0.19 40.00 0.13 0.00 0.04 39.40 114 35

130692 25.00 26.20 23.00 24.57 0.20 -0.21 40.00 0.01 0.00 -0.13 1.72 76 73

130742 25.80 26.90 23.30 24.35 0.25 -0.21 40.00 -0.04 0.00 -0.05 -12.40 62 87

130792 32.20 29.80 23.40 10.19 0.88 -0.40 40.00 -0.48 0.00 -0.44 -144.74 0 127

Looking at the line at time 124142, we see:

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
124142	29.30	31.50	29.10	31.48	0.02	-0.11	40.00	0.09	0.00	0.06	28.08	103	46

1 2	Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd 124142 29.30 31.50 29.10 31.48 0.02 -0.11 40.00 0.09 0.00 0.06 28.08 103 46

The steering value is very low (0.02) because the front and rear sensor distances are very close, but because the robot is well inside the intended offset distance of 40cm, the ‘tweak value’ of -0.11 is actually dominant, which drives the robot’s left motors harder than the right ones, which should correct the robot back toward 40cm offset. When we look at the Excel plot, we see:

The plot shows the ‘tweak’ value becoming more negative as the corrected distance becomes smaller relative to the desired offset distance of 40cm, and thus tends to correct the robot back toward the desired offset. At the 12.41sec mark (shown by the vertical line in the above plot) the ‘tweak’ value is -0.11, compared to the steering value of +0.02, so the ‘tweak’ input should dominate the output. With a P of 300, the output with just the steering value would be -300 x 0.02 = -6 resulting in left/right motor speeds of 69/81, steering the robot very slightly toward the wall. However, with the ‘tweak’ value of -0.02 the output is -300 x (0.02 -0.11) = +27 (actually +28), resulting in motor speeds of 103/46, or moderately away from the wall, as desired.

To simply the tuning problem, I changed the wall configuration back to a single straight wall, but started the robot with a 30cm offset (10cm closer than desired) but still parallel (steering value near zero). Here’s the output:

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
107749	29.50	32.70	28.70	32.36	0.08	-0.10	40.00	0.02	0.00	0.02	6.56	81	68
107799	30.00	32.40	28.70	31.52	0.13	-0.11	40.00	-0.02	0.00	-0.04	-5.10	69	80
107849	29.90	32.50	29.00	32.07	0.09	-0.11	40.00	0.02	0.00	0.03	4.70	79	70
107899	29.50	32.40	27.90	31.09	0.16	-0.12	40.00	-0.04	0.00	-0.06	-12.35	62	87
107949	29.40	32.00	28.50	31.58	0.09	-0.11	40.00	0.02	0.00	0.06	6.68	81	68
107999	29.50	32.70	27.80	31.21	0.17	-0.12	40.00	-0.05	0.00	-0.08	-15.84	59	90
108049	29.50	32.30	28.40	31.67	0.11	-0.11	40.00	0.00	0.00	0.05	0.32	75	74
108099	29.00	31.90	28.40	31.28	0.11	-0.12	40.00	0.01	0.00	0.01	1.88	76	73
108149	29.00	31.90	28.20	31.57	0.08	-0.11	40.00	0.03	0.00	0.03	9.72	84	65
108199	29.40	31.40	27.50	29.63	0.19	-0.14	40.00	-0.05	0.00	-0.08	-15.51	59	90
108249	28.30	31.60	27.40	31.19	0.09	-0.12	40.00	0.03	0.00	0.08	8.26	83	66
108299	28.50	31.90	27.20	31.04	0.13	-0.12	40.00	-0.01	0.00	-0.04	-3.15	71	78
108349	27.70	30.80	27.40	30.75	0.03	-0.12	40.00	0.09	0.00	0.10	27.98	102	47
108399	27.90	30.80	27.80	30.79	0.01	-0.12	40.00	0.11	0.00	0.02	33.82	108	41
108449	27.60	31.00	26.90	30.75	0.07	-0.12	40.00	0.05	0.00	-0.06	15.99	90	59
108499	28.00	30.60	26.90	30.00	0.11	-0.13	40.00	0.02	0.00	-0.03	6.98	81	68
108549	28.00	30.60	26.90	30.00	0.11	-0.13	40.00	0.02	0.00	0.00	6.98	81	68
108599	27.20	30.60	25.70	29.51	0.15	-0.14	40.00	-0.01	0.00	-0.03	-3.02	71	78
108649	26.90	30.70	25.50	29.74	0.14	-0.14	40.00	-0.00	0.00	0.01	-0.96	74	75
108699	27.20	29.90	25.50	28.54	0.17	-0.15	40.00	-0.02	0.00	-0.01	-5.15	69	80
108749	26.70	30.00	25.60	29.42	0.11	-0.14	40.00	0.03	0.00	0.05	9.34	84	65
108799	26.30	30.00	25.50	29.69	0.08	-0.14	40.00	0.06	0.00	0.03	17.24	92	57
108849	26.50	30.00	25.40	29.42	0.11	-0.14	40.00	0.03	0.00	-0.03	9.34	84	65
108899	25.60	29.30	24.80	29.00	0.08	-0.15	40.00	0.07	0.00	0.04	20.02	95	54
108949	25.60	29.10	24.70	28.72	0.09	-0.15	40.00	0.06	0.00	-0.01	18.12	93	56
108999	25.60	29.10	24.70	28.72	0.09	-0.15	40.00	0.06	0.00	0.00	18.12	93	56
109049	25.20	29.10	23.90	28.31	0.13	-0.16	40.00	0.03	0.00	-0.03	7.75	82	67
109099	25.20	29.10	23.90	28.31	0.13	-0.16	40.00	0.03	0.00	0.00	7.75	82	67
109149	25.40	28.30	24.20	27.65	0.12	-0.16	40.00	0.04	0.00	0.02	13.42	88	61
109199	25.00	27.40	24.10	27.04	0.09	-0.17	40.00	0.08	0.00	0.04	24.84	99	50
109249	24.90	27.30	24.20	27.08	0.07	-0.17	40.00	0.10	0.00	0.02	30.67	105	44
109299	24.50	28.20	23.70	27.91	0.08	-0.16	40.00	0.08	0.00	-0.02	24.37	99	50
109349	24.90	28.10	23.50	27.22	0.14	-0.17	40.00	0.03	0.00	-0.05	9.11	84	65
109399	24.20	27.80	23.50	27.58	0.07	-0.17	40.00	0.10	0.00	0.07	28.68	103	46
109449	25.00	27.40	24.10	27.04	0.09	-0.17	40.00	0.08	0.00	-0.01	24.84	99	50
109499	25.10	28.30	23.50	27.15	0.16	-0.17	40.00	0.01	0.00	-0.07	3.39	78	71
109549	25.70	28.60	24.20	27.58	0.15	-0.17	40.00	0.02	0.00	0.00	4.69	79	70
109599	25.20	30.10	24.60	29.92	0.06	-0.13	40.00	0.07	0.00	0.06	22.30	97	52
109649	25.00	28.30	24.70	28.26	0.03	-0.16	40.00	0.13	0.00	0.05	37.97	112	37
109699	25.00	28.00	24.90	28.00	0.01	-0.16	40.00	0.15	0.00	0.02	45.02	120	29
109749	25.10	28.50	24.70	28.43	0.04	-0.15	40.00	0.11	0.00	-0.04	34.30	109	40
109799	25.30	27.60	24.70	27.44	0.06	-0.17	40.00	0.11	0.00	-0.01	32.25	107	42
109849	25.60	28.30	24.70	27.93	0.09	-0.16	40.00	0.07	0.00	-0.04	21.28	96	53
109899	25.40	29.60	24.30	29.02	0.11	-0.15	40.00	0.04	0.00	-0.03	10.91	85	64
109949	26.40	824.10	24.30	767.82	0.21	9.70	40.00	-9.91	0.00	-9.95	-2974.27	0	127
109999	27.80	26.20	26.60	25.59	0.12	-0.19	40.00	0.07	0.00	9.99	21.62	96	53
110049	28.50	27.00	27.00	26.03	0.15	-0.19	40.00	0.04	0.00	-0.04	10.86	85	64
110099	28.30	27.20	26.80	26.23	0.15	-0.18	40.00	0.03	0.00	-0.00	10.09	85	64
110149	28.50	27.60	28.20	27.56	0.03	-0.17	40.00	0.14	0.00	0.10	40.76	115	34
110199	29.30	27.80	28.30	27.35	0.10	-0.17	40.00	0.07	0.00	-0.07	20.59	95	54
110249	29.50	28.90	27.80	27.58	0.17	-0.17	40.00	-0.00	0.00	-0.07	-1.33	73	76
110299	29.40	28.70	29.00	28.63	0.04	-0.15	40.00	0.11	0.00	0.12	33.50	108	41
110349	30.00	29.60	29.00	29.12	0.10	-0.15	40.00	0.05	0.00	-0.07	13.51	88	61
110399	30.80	30.00	29.20	29.19	0.13	-0.14	40.00	0.01	0.00	-0.03	4.24	79	70
110449	32.00	31.10	30.00	29.16	0.20	-0.14	40.00	-0.06	0.00	-0.07	-16.66	58	91
110499	32.60	31.00	30.30	28.49	0.23	-0.15	40.00	-0.08	0.00	-0.02	-22.94	52	97
110549	33.30	31.80	30.50	28.09	0.28	-0.16	40.00	-0.12	0.00	-0.04	-36.35	38	111
110599	32.70	32.40	31.20	31.24	0.15	-0.12	40.00	-0.03	0.00	0.09	-9.97	65	84
110649	33.70	32.90	31.90	31.23	0.18	-0.12	40.00	-0.06	0.00	-0.03	-18.91	56	93
110699	33.60	33.90	31.70	31.99	0.19	-0.11	40.00	-0.08	0.00	-0.02	-24.95	50	99
110749	33.90	33.70	32.90	33.16	0.10	-0.09	40.00	-0.01	0.00	0.07	-2.63	72	77
110799	34.40	32.90	33.00	31.87	0.14	-0.11	40.00	-0.03	0.00	-0.02	-9.49	65	84
110849	33.50	34.00	33.00	33.86	0.05	-0.08	40.00	0.03	0.00	0.06	9.55	84	65
110899	34.50	35.00	33.40	34.32	0.11	-0.08	40.00	-0.03	0.00	-0.07	-10.27	64	85
110949	34.90	34.90	33.50	33.81	0.14	-0.08	40.00	-0.06	0.00	-0.02	-17.24	57	92
110999	35.10	35.40	34.10	34.83	0.10	-0.07	40.00	-0.03	0.00	0.03	-9.32	65	84
111049	35.90	36.10	34.60	35.12	0.13	-0.07	40.00	-0.06	0.00	-0.03	-19.50	55	94
111099	36.70	35.90	34.30	34.78	0.14	-0.07	40.00	-0.07	0.00	-0.01	-21.11	53	96
111149	35.80	36.50	34.60	35.66	0.12	-0.06	40.00	-0.06	0.00	0.01	-18.63	56	93
111199	36.50	37.10	35.50	36.50	0.10	-0.05	40.00	-0.05	0.00	0.01	-16.01	58	91
111249	36.50	37.50	35.50	36.90	0.10	-0.04	40.00	-0.06	0.00	-0.01	-17.58	57	92
111299	36.20	37.60	36.10	37.59	0.01	-0.03	40.00	0.02	0.00	0.08	6.62	81	68
111349	36.40	37.60	35.80	37.38	0.06	-0.03	40.00	-0.03	0.00	-0.05	-7.52	67	82
111399	37.20	37.90	36.50	37.60	0.07	-0.03	40.00	-0.04	0.00	-0.01	-11.39	63	86
111449	37.20	37.60	36.10	36.87	0.11	-0.04	40.00	-0.07	0.00	-0.03	-20.47	54	95
111499	37.00	38.20	36.10	37.70	0.09	-0.03	40.00	-0.06	0.00	0.01	-17.80	57	92
111549	37.40	38.30	36.40	37.68	0.10	-0.03	40.00	-0.07	0.00	-0.01	-20.73	54	95
111599	38.10	38.90	36.70	37.68	0.14	-0.03	40.00	-0.11	0.00	-0.04	-32.74	42	107
111649	38.00	39.90	37.40	39.67	0.06	-0.00	40.00	-0.06	0.00	0.05	-16.67	58	91
111699	38.90	39.70	37.50	38.46	0.14	-0.02	40.00	-0.12	0.00	-0.06	-35.84	39	110
111749	39.10	39.80	38.00	39.03	0.11	-0.01	40.00	-0.10	0.00	0.02	-29.10	45	104
111799	38.40	39.50	38.00	39.40	0.04	-0.01	40.00	-0.03	0.00	0.07	-9.59	65	84
111849	38.30	40.00	37.90	39.90	0.04	-0.00	40.00	-0.04	0.00	-0.01	-11.58	63	86
111899	39.20	39.90	37.70	38.47	0.15	-0.02	40.00	-0.13	0.00	-0.09	-38.89	36	113
111949	38.40	40.00	37.90	39.84	0.05	-0.00	40.00	-0.05	0.00	0.08	-14.35	60	89
111999	38.00	39.90	37.90	39.89	0.01	-0.00	40.00	-0.01	0.00	0.04	-2.57	72	77
112049	37.30	39.40	38.40	38.63	-0.11	-0.02	40.00	0.13	0.00	0.14	38.47	113	36
112099	37.00	38.70	37.90	38.19	-0.09	-0.02	40.00	0.11	0.00	-0.01	34.23	109	40
112149	37.60	38.50	37.90	38.44	-0.03	-0.02	40.00	0.05	0.00	-0.06	15.23	90	59
112199	36.70	38.50	37.30	38.27	-0.06	-0.02	40.00	0.08	0.00	0.03	24.90	99	50
112249	36.70	37.90	36.80	37.89	-0.01	-0.03	40.00	0.04	0.00	-0.04	11.42	86	63
112299	36.90	38.10	37.10	38.08	-0.02	-0.03	40.00	0.05	0.00	0.01	13.70	88	61
112349	37.00	37.20	36.70	37.15	0.03	-0.04	40.00	0.01	0.00	-0.04	2.42	77	72
112399	36.80	37.60	36.50	37.54	0.03	-0.03	40.00	0.00	0.00	-0.01	0.82	75	74
112449	36.50	37.60	36.80	37.54	-0.03	-0.03	40.00	0.06	0.00	0.06	18.82	93	56
112499	36.10	37.70	35.60	37.55	0.05	-0.03	40.00	-0.02	0.00	-0.08	-5.19	69	80
112549	36.50	37.00	35.50	36.40	0.10	-0.05	40.00	-0.05	0.00	-0.03	-15.61	59	90
112599	36.50	37.30	36.00	37.15	0.05	-0.04	40.00	-0.01	0.00	0.04	-3.59	71	78
112649	36.80	36.50	36.50	36.45	0.03	-0.05	40.00	0.02	0.00	0.03	5.21	80	69
112699	36.00	36.80	36.30	36.75	-0.03	-0.04	40.00	0.07	0.00	0.06	22.02	97	52
112749	36.40	36.00	35.10	35.03	0.13	-0.07	40.00	-0.06	0.00	-0.14	-19.11	55	94
112799	36.00	35.90	35.10	35.43	0.09	-0.06	40.00	-0.03	0.00	0.03	-8.72	66	83
112849	34.90	36.60	35.70	36.22	-0.08	-0.05	40.00	0.13	0.00	0.16	39.12	114	35
112899	35.90	37.10	35.10	36.72	0.08	-0.04	40.00	-0.04	0.00	-0.17	-10.86	64	85
112949	35.90	36.40	35.30	36.19	0.06	-0.05	40.00	-0.01	0.00	0.03	-2.75	72	77
112999	36.30	36.10	35.00	35.12	0.13	-0.07	40.00	-0.06	0.00	-0.06	-19.50	55	94
113049	35.90	36.50	35.50	36.40	0.04	-0.05	40.00	0.01	0.00	0.07	2.38	77	72
113099	35.90	36.50	35.50	36.40	0.04	-0.05	40.00	0.01	0.00	0.00	2.38	77	72
113149	35.50	36.90	34.90	36.68	0.06	-0.04	40.00	-0.02	0.00	-0.02	-4.74	70	79
113199	35.50	36.90	34.90	36.68	0.06	-0.04	40.00	-0.02	0.00	0.00	-4.74	70	79
113249	35.80	36.90	35.70	36.89	0.01	-0.04	40.00	0.03	0.00	0.05	9.42	84	65
113299	36.00	37.20	35.20	36.81	0.08	-0.04	40.00	-0.04	0.00	-0.07	-11.26	63	86
113349	35.30	36.60	35.40	36.59	-0.01	-0.05	40.00	0.06	0.00	0.09	16.62	91	58
113399	36.70	37.30	35.70	36.70	0.10	-0.04	40.00	-0.06	0.00	-0.11	-16.79	58	91
113449	36.20	37.10	35.50	36.80	0.07	-0.04	40.00	-0.03	0.00	0.03	-8.22	66	83
113499	36.10	37.30	35.80	37.25	0.03	-0.04	40.00	0.01	0.00	0.03	2.02	77	72
113549	36.70	37.30	36.20	37.15	0.05	-0.04	40.00	-0.01	0.00	-0.02	-3.59	71	78
113599	36.60	37.20	36.20	37.10	0.04	-0.04	40.00	-0.00	0.00	0.01	-0.41	74	75
113649	36.60	37.20	36.20	37.10	0.04	-0.04	40.00	-0.00	0.00	0.00	-0.41	74	75
113699	36.90	37.90	36.20	37.60	0.07	-0.03	40.00	-0.04	0.00	-0.04	-11.39	63	86
113749	36.30	37.60	35.80	37.45	0.05	-0.03	40.00	-0.02	0.00	0.02	-4.79	70	79
113799	35.90	37.40	35.80	37.39	0.01	-0.03	40.00	0.02	0.00	0.04	7.42	82	67
113849	37.00	37.30	35.60	36.13	0.14	-0.05	40.00	-0.09	0.00	-0.11	-26.54	48	101
113899	36.60	37.50	36.10	37.35	0.05	-0.04	40.00	-0.01	0.00	0.07	-4.39	70	79
113949	36.70	38.10	35.80	37.60	0.09	-0.03	40.00	-0.06	0.00	-0.04	-17.40	57	92
113999	37.20	37.70	35.80	36.52	0.14	-0.05	40.00	-0.09	0.00	-0.04	-28.09	46	103
114049	37.00	38.10	36.80	38.08	0.02	-0.03	40.00	0.01	0.00	0.10	1.70	76	73
114099	36.70	38.40	36.30	38.30	0.04	-0.02	40.00	-0.02	0.00	-0.02	-5.20	69	80
114149	37.80	38.40	36.30	38.30	0.04	-0.02	40.00	-0.02	0.00	0.00	-5.20	69	80
114199	37.80	38.80	36.70	38.04	0.11	-0.03	40.00	-0.08	0.00	-0.07	-25.18	49	100
114249	37.00	38.00	36.50	37.85	0.05	-0.03	40.00	-0.02	0.00	0.06	-6.38	68	81
114299	37.50	38.70	36.30	37.81	0.12	-0.03	40.00	-0.09	0.00	-0.07	-27.22	47	102
114349	37.00	38.60	36.60	38.50	0.04	-0.02	40.00	-0.02	0.00	0.07	-6.00	69	80
114399	37.20	39.10	36.70	38.94	0.05	-0.01	40.00	-0.04	0.00	-0.02	-10.76	64	85
114449	37.20	38.10	36.70	37.94	0.05	-0.03	40.00	-0.02	0.00	0.01	-6.78	68	81
114499	36.70	38.10	36.60	38.09	0.01	-0.03	40.00	0.02	0.00	0.04	4.62	79	70
114549	36.50	37.10	35.80	36.80	0.07	-0.04	40.00	-0.03	0.00	-0.04	-8.22	66	83
114599	36.00	36.40	36.00	36.40	0.00	-0.05	40.00	0.05	0.00	0.08	14.40	89	60
114649	35.50	36.30	35.60	36.29	-0.01	-0.05	40.00	0.06	0.00	0.01	17.82	92	57
114699	35.90	36.40	35.50	36.31	0.04	-0.05	40.00	0.01	0.00	-0.05	2.78	77	72
114749	35.30	36.60	35.40	36.59	-0.01	-0.05	40.00	0.06	0.00	0.05	16.62	91	58
114799	34.70	35.60	34.50	35.58	0.02	-0.06	40.00	0.04	0.00	-0.02	11.69	86	63
114849	35.10	34.80	33.70	33.71	0.14	-0.08	40.00	-0.06	0.00	-0.10	-16.85	58	91
114899	34.20	35.00	33.30	34.54	0.09	-0.07	40.00	-0.02	0.00	0.04	-5.17	69	80
114949	33.70	34.20	33.40	34.15	0.03	-0.08	40.00	0.05	0.00	0.07	14.40	89	60
114999	33.70	34.20	33.40	34.15	0.03	-0.08	40.00	0.05	0.00	0.00	14.40	89	60
115049	33.00	33.20	32.60	33.11	0.04	-0.09	40.00	0.05	0.00	0.00	15.55	90	59
115099	33.00	33.20	32.60	33.11	0.04	-0.09	40.00	0.05	0.00	0.00	15.55	90	59
115149	32.60	32.30	32.10	32.17	0.05	-0.10	40.00	0.05	0.00	0.00	16.33	91	58
115199	31.80	31.30	30.90	30.89	0.09	-0.12	40.00	0.03	0.00	-0.02	9.44	84	65
115249	30.90	31.00	30.30	30.82	0.06	-0.12	40.00	0.06	0.00	0.03	18.73	93	56
115299	31.00	30.50	29.90	29.91	0.11	-0.13	40.00	0.02	0.00	-0.04	7.38	82	67
115349	31.00	29.70	29.80	29.01	0.12	-0.15	40.00	0.03	0.00	0.00	7.94	82	67
115399	30.50	29.90	29.10	28.97	0.14	-0.15	40.00	0.01	0.00	-0.02	2.14	77	72
115449	29.30	29.20	28.10	28.53	0.12	-0.15	40.00	0.03	0.00	0.03	9.90	84	65
115499	29.60	28.90	27.80	27.43	0.18	-0.17	40.00	-0.01	0.00	-0.05	-3.72	71	78
115549	29.60	28.90	27.80	27.43	0.18	-0.17	40.00	-0.01	0.00	0.00	-3.72	71	78
115599	29.90	28.30	27.90	26.54	0.20	-0.18	40.00	-0.02	0.00	-0.01	-6.15	68	81
115649	31.50	824.10	28.50	715.07	0.30	9.00	40.00	-9.30	0.00	-9.28	-2790.27	0	127

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102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

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131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

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154

155

156

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160

Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd

107749 29.50 32.70 28.70 32.36 0.08 -0.10 40.00 0.02 0.00 0.02 6.56 81 68

107799 30.00 32.40 28.70 31.52 0.13 -0.11 40.00 -0.02 0.00 -0.04 -5.10 69 80

107849 29.90 32.50 29.00 32.07 0.09 -0.11 40.00 0.02 0.00 0.03 4.70 79 70

107899 29.50 32.40 27.90 31.09 0.16 -0.12 40.00 -0.04 0.00 -0.06 -12.35 62 87

107949 29.40 32.00 28.50 31.58 0.09 -0.11 40.00 0.02 0.00 0.06 6.68 81 68

107999 29.50 32.70 27.80 31.21 0.17 -0.12 40.00 -0.05 0.00 -0.08 -15.84 59 90

108049 29.50 32.30 28.40 31.67 0.11 -0.11 40.00 0.00 0.00 0.05 0.32 75 74

108099 29.00 31.90 28.40 31.28 0.11 -0.12 40.00 0.01 0.00 0.01 1.88 76 73

108149 29.00 31.90 28.20 31.57 0.08 -0.11 40.00 0.03 0.00 0.03 9.72 84 65

108199 29.40 31.40 27.50 29.63 0.19 -0.14 40.00 -0.05 0.00 -0.08 -15.51 59 90

108249 28.30 31.60 27.40 31.19 0.09 -0.12 40.00 0.03 0.00 0.08 8.26 83 66

108299 28.50 31.90 27.20 31.04 0.13 -0.12 40.00 -0.01 0.00 -0.04 -3.15 71 78

108349 27.70 30.80 27.40 30.75 0.03 -0.12 40.00 0.09 0.00 0.10 27.98 102 47

108399 27.90 30.80 27.80 30.79 0.01 -0.12 40.00 0.11 0.00 0.02 33.82 108 41

108449 27.60 31.00 26.90 30.75 0.07 -0.12 40.00 0.05 0.00 -0.06 15.99 90 59

108499 28.00 30.60 26.90 30.00 0.11 -0.13 40.00 0.02 0.00 -0.03 6.98 81 68

108549 28.00 30.60 26.90 30.00 0.11 -0.13 40.00 0.02 0.00 0.00 6.98 81 68

108599 27.20 30.60 25.70 29.51 0.15 -0.14 40.00 -0.01 0.00 -0.03 -3.02 71 78

108649 26.90 30.70 25.50 29.74 0.14 -0.14 40.00 -0.00 0.00 0.01 -0.96 74 75

108699 27.20 29.90 25.50 28.54 0.17 -0.15 40.00 -0.02 0.00 -0.01 -5.15 69 80

108749 26.70 30.00 25.60 29.42 0.11 -0.14 40.00 0.03 0.00 0.05 9.34 84 65

108799 26.30 30.00 25.50 29.69 0.08 -0.14 40.00 0.06 0.00 0.03 17.24 92 57

108849 26.50 30.00 25.40 29.42 0.11 -0.14 40.00 0.03 0.00 -0.03 9.34 84 65

108899 25.60 29.30 24.80 29.00 0.08 -0.15 40.00 0.07 0.00 0.04 20.02 95 54

108949 25.60 29.10 24.70 28.72 0.09 -0.15 40.00 0.06 0.00 -0.01 18.12 93 56

108999 25.60 29.10 24.70 28.72 0.09 -0.15 40.00 0.06 0.00 0.00 18.12 93 56

109049 25.20 29.10 23.90 28.31 0.13 -0.16 40.00 0.03 0.00 -0.03 7.75 82 67

109099 25.20 29.10 23.90 28.31 0.13 -0.16 40.00 0.03 0.00 0.00 7.75 82 67

109149 25.40 28.30 24.20 27.65 0.12 -0.16 40.00 0.04 0.00 0.02 13.42 88 61

109199 25.00 27.40 24.10 27.04 0.09 -0.17 40.00 0.08 0.00 0.04 24.84 99 50

109249 24.90 27.30 24.20 27.08 0.07 -0.17 40.00 0.10 0.00 0.02 30.67 105 44

109299 24.50 28.20 23.70 27.91 0.08 -0.16 40.00 0.08 0.00 -0.02 24.37 99 50

109349 24.90 28.10 23.50 27.22 0.14 -0.17 40.00 0.03 0.00 -0.05 9.11 84 65

109399 24.20 27.80 23.50 27.58 0.07 -0.17 40.00 0.10 0.00 0.07 28.68 103 46

109449 25.00 27.40 24.10 27.04 0.09 -0.17 40.00 0.08 0.00 -0.01 24.84 99 50

109499 25.10 28.30 23.50 27.15 0.16 -0.17 40.00 0.01 0.00 -0.07 3.39 78 71

109549 25.70 28.60 24.20 27.58 0.15 -0.17 40.00 0.02 0.00 0.00 4.69 79 70

109599 25.20 30.10 24.60 29.92 0.06 -0.13 40.00 0.07 0.00 0.06 22.30 97 52

109649 25.00 28.30 24.70 28.26 0.03 -0.16 40.00 0.13 0.00 0.05 37.97 112 37

109699 25.00 28.00 24.90 28.00 0.01 -0.16 40.00 0.15 0.00 0.02 45.02 120 29

109749 25.10 28.50 24.70 28.43 0.04 -0.15 40.00 0.11 0.00 -0.04 34.30 109 40

109799 25.30 27.60 24.70 27.44 0.06 -0.17 40.00 0.11 0.00 -0.01 32.25 107 42

109849 25.60 28.30 24.70 27.93 0.09 -0.16 40.00 0.07 0.00 -0.04 21.28 96 53

109899 25.40 29.60 24.30 29.02 0.11 -0.15 40.00 0.04 0.00 -0.03 10.91 85 64

109949 26.40 824.10 24.30 767.82 0.21 9.70 40.00 -9.91 0.00 -9.95 -2974.27 0 127

109999 27.80 26.20 26.60 25.59 0.12 -0.19 40.00 0.07 0.00 9.99 21.62 96 53

110049 28.50 27.00 27.00 26.03 0.15 -0.19 40.00 0.04 0.00 -0.04 10.86 85 64

110099 28.30 27.20 26.80 26.23 0.15 -0.18 40.00 0.03 0.00 -0.00 10.09 85 64

110149 28.50 27.60 28.20 27.56 0.03 -0.17 40.00 0.14 0.00 0.10 40.76 115 34

110199 29.30 27.80 28.30 27.35 0.10 -0.17 40.00 0.07 0.00 -0.07 20.59 95 54

110249 29.50 28.90 27.80 27.58 0.17 -0.17 40.00 -0.00 0.00 -0.07 -1.33 73 76

110299 29.40 28.70 29.00 28.63 0.04 -0.15 40.00 0.11 0.00 0.12 33.50 108 41

110349 30.00 29.60 29.00 29.12 0.10 -0.15 40.00 0.05 0.00 -0.07 13.51 88 61

110399 30.80 30.00 29.20 29.19 0.13 -0.14 40.00 0.01 0.00 -0.03 4.24 79 70

110449 32.00 31.10 30.00 29.16 0.20 -0.14 40.00 -0.06 0.00 -0.07 -16.66 58 91

110499 32.60 31.00 30.30 28.49 0.23 -0.15 40.00 -0.08 0.00 -0.02 -22.94 52 97

110549 33.30 31.80 30.50 28.09 0.28 -0.16 40.00 -0.12 0.00 -0.04 -36.35 38 111

110599 32.70 32.40 31.20 31.24 0.15 -0.12 40.00 -0.03 0.00 0.09 -9.97 65 84

110649 33.70 32.90 31.90 31.23 0.18 -0.12 40.00 -0.06 0.00 -0.03 -18.91 56 93

110699 33.60 33.90 31.70 31.99 0.19 -0.11 40.00 -0.08 0.00 -0.02 -24.95 50 99

110749 33.90 33.70 32.90 33.16 0.10 -0.09 40.00 -0.01 0.00 0.07 -2.63 72 77

110799 34.40 32.90 33.00 31.87 0.14 -0.11 40.00 -0.03 0.00 -0.02 -9.49 65 84

110849 33.50 34.00 33.00 33.86 0.05 -0.08 40.00 0.03 0.00 0.06 9.55 84 65

110899 34.50 35.00 33.40 34.32 0.11 -0.08 40.00 -0.03 0.00 -0.07 -10.27 64 85

110949 34.90 34.90 33.50 33.81 0.14 -0.08 40.00 -0.06 0.00 -0.02 -17.24 57 92

110999 35.10 35.40 34.10 34.83 0.10 -0.07 40.00 -0.03 0.00 0.03 -9.32 65 84

111049 35.90 36.10 34.60 35.12 0.13 -0.07 40.00 -0.06 0.00 -0.03 -19.50 55 94

111099 36.70 35.90 34.30 34.78 0.14 -0.07 40.00 -0.07 0.00 -0.01 -21.11 53 96

111149 35.80 36.50 34.60 35.66 0.12 -0.06 40.00 -0.06 0.00 0.01 -18.63 56 93

111199 36.50 37.10 35.50 36.50 0.10 -0.05 40.00 -0.05 0.00 0.01 -16.01 58 91

111249 36.50 37.50 35.50 36.90 0.10 -0.04 40.00 -0.06 0.00 -0.01 -17.58 57 92

111299 36.20 37.60 36.10 37.59 0.01 -0.03 40.00 0.02 0.00 0.08 6.62 81 68

111349 36.40 37.60 35.80 37.38 0.06 -0.03 40.00 -0.03 0.00 -0.05 -7.52 67 82

111399 37.20 37.90 36.50 37.60 0.07 -0.03 40.00 -0.04 0.00 -0.01 -11.39 63 86

111449 37.20 37.60 36.10 36.87 0.11 -0.04 40.00 -0.07 0.00 -0.03 -20.47 54 95

111499 37.00 38.20 36.10 37.70 0.09 -0.03 40.00 -0.06 0.00 0.01 -17.80 57 92

111549 37.40 38.30 36.40 37.68 0.10 -0.03 40.00 -0.07 0.00 -0.01 -20.73 54 95

111599 38.10 38.90 36.70 37.68 0.14 -0.03 40.00 -0.11 0.00 -0.04 -32.74 42 107

111649 38.00 39.90 37.40 39.67 0.06 -0.00 40.00 -0.06 0.00 0.05 -16.67 58 91

111699 38.90 39.70 37.50 38.46 0.14 -0.02 40.00 -0.12 0.00 -0.06 -35.84 39 110

111749 39.10 39.80 38.00 39.03 0.11 -0.01 40.00 -0.10 0.00 0.02 -29.10 45 104

111799 38.40 39.50 38.00 39.40 0.04 -0.01 40.00 -0.03 0.00 0.07 -9.59 65 84

111849 38.30 40.00 37.90 39.90 0.04 -0.00 40.00 -0.04 0.00 -0.01 -11.58 63 86

111899 39.20 39.90 37.70 38.47 0.15 -0.02 40.00 -0.13 0.00 -0.09 -38.89 36 113

111949 38.40 40.00 37.90 39.84 0.05 -0.00 40.00 -0.05 0.00 0.08 -14.35 60 89

111999 38.00 39.90 37.90 39.89 0.01 -0.00 40.00 -0.01 0.00 0.04 -2.57 72 77

112049 37.30 39.40 38.40 38.63 -0.11 -0.02 40.00 0.13 0.00 0.14 38.47 113 36

112099 37.00 38.70 37.90 38.19 -0.09 -0.02 40.00 0.11 0.00 -0.01 34.23 109 40

112149 37.60 38.50 37.90 38.44 -0.03 -0.02 40.00 0.05 0.00 -0.06 15.23 90 59

112199 36.70 38.50 37.30 38.27 -0.06 -0.02 40.00 0.08 0.00 0.03 24.90 99 50

112249 36.70 37.90 36.80 37.89 -0.01 -0.03 40.00 0.04 0.00 -0.04 11.42 86 63

112299 36.90 38.10 37.10 38.08 -0.02 -0.03 40.00 0.05 0.00 0.01 13.70 88 61

112349 37.00 37.20 36.70 37.15 0.03 -0.04 40.00 0.01 0.00 -0.04 2.42 77 72

112399 36.80 37.60 36.50 37.54 0.03 -0.03 40.00 0.00 0.00 -0.01 0.82 75 74

112449 36.50 37.60 36.80 37.54 -0.03 -0.03 40.00 0.06 0.00 0.06 18.82 93 56

112499 36.10 37.70 35.60 37.55 0.05 -0.03 40.00 -0.02 0.00 -0.08 -5.19 69 80

112549 36.50 37.00 35.50 36.40 0.10 -0.05 40.00 -0.05 0.00 -0.03 -15.61 59 90

112599 36.50 37.30 36.00 37.15 0.05 -0.04 40.00 -0.01 0.00 0.04 -3.59 71 78

112649 36.80 36.50 36.50 36.45 0.03 -0.05 40.00 0.02 0.00 0.03 5.21 80 69

112699 36.00 36.80 36.30 36.75 -0.03 -0.04 40.00 0.07 0.00 0.06 22.02 97 52

112749 36.40 36.00 35.10 35.03 0.13 -0.07 40.00 -0.06 0.00 -0.14 -19.11 55 94

112799 36.00 35.90 35.10 35.43 0.09 -0.06 40.00 -0.03 0.00 0.03 -8.72 66 83

112849 34.90 36.60 35.70 36.22 -0.08 -0.05 40.00 0.13 0.00 0.16 39.12 114 35

112899 35.90 37.10 35.10 36.72 0.08 -0.04 40.00 -0.04 0.00 -0.17 -10.86 64 85

112949 35.90 36.40 35.30 36.19 0.06 -0.05 40.00 -0.01 0.00 0.03 -2.75 72 77

112999 36.30 36.10 35.00 35.12 0.13 -0.07 40.00 -0.06 0.00 -0.06 -19.50 55 94

113049 35.90 36.50 35.50 36.40 0.04 -0.05 40.00 0.01 0.00 0.07 2.38 77 72

113099 35.90 36.50 35.50 36.40 0.04 -0.05 40.00 0.01 0.00 0.00 2.38 77 72

113149 35.50 36.90 34.90 36.68 0.06 -0.04 40.00 -0.02 0.00 -0.02 -4.74 70 79

113199 35.50 36.90 34.90 36.68 0.06 -0.04 40.00 -0.02 0.00 0.00 -4.74 70 79

113249 35.80 36.90 35.70 36.89 0.01 -0.04 40.00 0.03 0.00 0.05 9.42 84 65

113299 36.00 37.20 35.20 36.81 0.08 -0.04 40.00 -0.04 0.00 -0.07 -11.26 63 86

113349 35.30 36.60 35.40 36.59 -0.01 -0.05 40.00 0.06 0.00 0.09 16.62 91 58

113399 36.70 37.30 35.70 36.70 0.10 -0.04 40.00 -0.06 0.00 -0.11 -16.79 58 91

113449 36.20 37.10 35.50 36.80 0.07 -0.04 40.00 -0.03 0.00 0.03 -8.22 66 83

113499 36.10 37.30 35.80 37.25 0.03 -0.04 40.00 0.01 0.00 0.03 2.02 77 72

113549 36.70 37.30 36.20 37.15 0.05 -0.04 40.00 -0.01 0.00 -0.02 -3.59 71 78

113599 36.60 37.20 36.20 37.10 0.04 -0.04 40.00 -0.00 0.00 0.01 -0.41 74 75

113649 36.60 37.20 36.20 37.10 0.04 -0.04 40.00 -0.00 0.00 0.00 -0.41 74 75

113699 36.90 37.90 36.20 37.60 0.07 -0.03 40.00 -0.04 0.00 -0.04 -11.39 63 86

113749 36.30 37.60 35.80 37.45 0.05 -0.03 40.00 -0.02 0.00 0.02 -4.79 70 79

113799 35.90 37.40 35.80 37.39 0.01 -0.03 40.00 0.02 0.00 0.04 7.42 82 67

113849 37.00 37.30 35.60 36.13 0.14 -0.05 40.00 -0.09 0.00 -0.11 -26.54 48 101

113899 36.60 37.50 36.10 37.35 0.05 -0.04 40.00 -0.01 0.00 0.07 -4.39 70 79

113949 36.70 38.10 35.80 37.60 0.09 -0.03 40.00 -0.06 0.00 -0.04 -17.40 57 92

113999 37.20 37.70 35.80 36.52 0.14 -0.05 40.00 -0.09 0.00 -0.04 -28.09 46 103

114049 37.00 38.10 36.80 38.08 0.02 -0.03 40.00 0.01 0.00 0.10 1.70 76 73

114099 36.70 38.40 36.30 38.30 0.04 -0.02 40.00 -0.02 0.00 -0.02 -5.20 69 80

114149 37.80 38.40 36.30 38.30 0.04 -0.02 40.00 -0.02 0.00 0.00 -5.20 69 80

114199 37.80 38.80 36.70 38.04 0.11 -0.03 40.00 -0.08 0.00 -0.07 -25.18 49 100

114249 37.00 38.00 36.50 37.85 0.05 -0.03 40.00 -0.02 0.00 0.06 -6.38 68 81

114299 37.50 38.70 36.30 37.81 0.12 -0.03 40.00 -0.09 0.00 -0.07 -27.22 47 102

114349 37.00 38.60 36.60 38.50 0.04 -0.02 40.00 -0.02 0.00 0.07 -6.00 69 80

114399 37.20 39.10 36.70 38.94 0.05 -0.01 40.00 -0.04 0.00 -0.02 -10.76 64 85

114449 37.20 38.10 36.70 37.94 0.05 -0.03 40.00 -0.02 0.00 0.01 -6.78 68 81

114499 36.70 38.10 36.60 38.09 0.01 -0.03 40.00 0.02 0.00 0.04 4.62 79 70

114549 36.50 37.10 35.80 36.80 0.07 -0.04 40.00 -0.03 0.00 -0.04 -8.22 66 83

114599 36.00 36.40 36.00 36.40 0.00 -0.05 40.00 0.05 0.00 0.08 14.40 89 60

114649 35.50 36.30 35.60 36.29 -0.01 -0.05 40.00 0.06 0.00 0.01 17.82 92 57

114699 35.90 36.40 35.50 36.31 0.04 -0.05 40.00 0.01 0.00 -0.05 2.78 77 72

114749 35.30 36.60 35.40 36.59 -0.01 -0.05 40.00 0.06 0.00 0.05 16.62 91 58

114799 34.70 35.60 34.50 35.58 0.02 -0.06 40.00 0.04 0.00 -0.02 11.69 86 63

114849 35.10 34.80 33.70 33.71 0.14 -0.08 40.00 -0.06 0.00 -0.10 -16.85 58 91

114899 34.20 35.00 33.30 34.54 0.09 -0.07 40.00 -0.02 0.00 0.04 -5.17 69 80

114949 33.70 34.20 33.40 34.15 0.03 -0.08 40.00 0.05 0.00 0.07 14.40 89 60

114999 33.70 34.20 33.40 34.15 0.03 -0.08 40.00 0.05 0.00 0.00 14.40 89 60

115049 33.00 33.20 32.60 33.11 0.04 -0.09 40.00 0.05 0.00 0.00 15.55 90 59

115099 33.00 33.20 32.60 33.11 0.04 -0.09 40.00 0.05 0.00 0.00 15.55 90 59

115149 32.60 32.30 32.10 32.17 0.05 -0.10 40.00 0.05 0.00 0.00 16.33 91 58

115199 31.80 31.30 30.90 30.89 0.09 -0.12 40.00 0.03 0.00 -0.02 9.44 84 65

115249 30.90 31.00 30.30 30.82 0.06 -0.12 40.00 0.06 0.00 0.03 18.73 93 56

115299 31.00 30.50 29.90 29.91 0.11 -0.13 40.00 0.02 0.00 -0.04 7.38 82 67

115349 31.00 29.70 29.80 29.01 0.12 -0.15 40.00 0.03 0.00 0.00 7.94 82 67

115399 30.50 29.90 29.10 28.97 0.14 -0.15 40.00 0.01 0.00 -0.02 2.14 77 72

115449 29.30 29.20 28.10 28.53 0.12 -0.15 40.00 0.03 0.00 0.03 9.90 84 65

115499 29.60 28.90 27.80 27.43 0.18 -0.17 40.00 -0.01 0.00 -0.05 -3.72 71 78

115549 29.60 28.90 27.80 27.43 0.18 -0.17 40.00 -0.01 0.00 0.00 -3.72 71 78

115599 29.90 28.30 27.90 26.54 0.20 -0.18 40.00 -0.02 0.00 -0.01 -6.15 68 81

115649 31.50 824.10 28.50 715.07 0.30 9.00 40.00 -9.30 0.00 -9.28 -2790.27 0 127

As can be seen from the above plot, the robot starts out at about 32cm, and slowly closes to about 28cm. Simultaneously the ‘tweak’ value goes from about -0.12 to about -0.18 (at 109749 mSec, the black line). The result is the robot starts moving away from the wall, getting to the desired 40cm offset a little over 2sec later (the red line). After this point it maintains about 40cm offset, as desired. The average offset distance from the red line to the end of the run is about 37.5cm – nice!

So it looks like P = 300 and tweak divisor = 75 is a nice starting point.

30 January 2023 Update:

Now that I have both the PID and divisor values as parameters, I plan to make some more ‘straight wall’ runs to see how the robot behaves. My belief is that a slightly lower divisor ratio, and possibly a slightly higher P value will be beneficial – we’ll see

Starting with P = 300 and divisor = 50:

Front	Center	Rear	Steer
33.10	33.40	31.40	0.17

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 300.00	0.00	0.00
Msec	LF	LC	LR	Steer	Deg	Cos	LCCorr	Set	Err	SpinDeg
WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
1065957	32.50	33.40	31.60	33.13	0.07	-0.14	40.00	0.07	0.00	0.07	20.19	95	54
1066007	32.50	33.40	31.20	32.50	0.13	-0.15	40.00	0.02	0.00	-0.05	6.02	81	68
1066057	32.60	33.20	31.10	32.01	0.15	-0.16	40.00	0.01	0.00	-0.01	2.92	77	72
1066107	33.20	33.70	31.10	31.40	0.21	-0.17	40.00	-0.04	0.00	-0.05	-11.39	63	86
1066157	32.70	34.10	31.70	33.55	0.10	-0.13	40.00	0.03	0.00	0.07	8.70	83	66
1066207	33.50	34.90	32.10	33.81	0.14	-0.12	40.00	-0.02	0.00	-0.05	-4.86	70	79
1066257	33.60	33.60	32.20	32.55	0.14	-0.15	40.00	0.01	0.00	0.03	2.70	77	72
1066307	34.10	34.80	32.70	33.71	0.14	-0.13	40.00	-0.01	0.00	-0.02	-4.28	70	79
1066357	33.90	35.50	33.30	35.29	0.06	-0.09	40.00	0.03	0.00	0.05	10.25	85	64
1066407	33.90	35.50	33.30	35.29	0.06	-0.09	40.00	0.03	0.00	0.00	10.25	85	64
1066457	34.70	35.90	33.20	34.62	0.15	-0.11	40.00	-0.04	0.00	-0.08	-12.70	62	87
1066507	34.70	35.80	33.90	35.43	0.08	-0.09	40.00	0.01	0.00	0.05	3.43	78	71
1066557	34.90	36.20	34.00	35.73	0.09	-0.09	40.00	-0.00	0.00	-0.02	-1.36	73	76
1066607	35.10	36.80	33.90	35.95	0.12	-0.08	40.00	-0.04	0.00	-0.03	-11.70	63	86
1066657	36.10	36.80	34.80	35.81	0.13	-0.08	40.00	-0.05	0.00	-0.01	-13.83	61	88
1066707	35.60	37.00	34.60	36.40	0.10	-0.07	40.00	-0.03	0.00	0.02	-8.42	66	83
1066757	35.60	37.40	35.00	37.18	0.06	-0.06	40.00	-0.00	0.00	0.02	-1.09	73	76
1066807	36.00	37.30	34.80	36.44	0.12	-0.07	40.00	-0.05	0.00	-0.05	-14.63	60	89
1066857	35.50	36.80	35.10	36.70	0.04	-0.07	40.00	0.03	0.00	0.07	7.78	82	67
1066907	35.90	37.60	35.60	37.54	0.03	-0.05	40.00	0.02	0.00	-0.01	5.73	80	69
1066957	36.80	37.60	35.10	35.89	0.17	-0.08	40.00	-0.09	0.00	-0.11	-26.32	48	101
1067007	36.40	38.00	35.30	37.26	0.11	-0.05	40.00	-0.06	0.00	0.03	-16.56	58	91
1067057	36.50	38.10	35.10	36.91	0.14	-0.06	40.00	-0.08	0.00	-0.02	-23.46	51	98
1067107	37.00	38.20	35.60	37.90	0.07	-0.04	40.00	-0.03	0.00	0.05	-8.38	66	83
1067157	37.40	37.90	36.60	37.51	0.08	-0.05	40.00	-0.03	0.00	-0.00	-9.04	65	84
1067207	36.90	38.20	36.10	37.80	0.08	-0.04	40.00	-0.04	0.00	-0.01	-10.82	64	85
1067257	37.40	38.50	36.30	37.75	0.11	-0.04	40.00	-0.07	0.00	-0.03	-19.50	55	94
1067307	36.40	38.50	36.00	38.40	0.04	-0.03	40.00	-0.01	0.00	0.06	-2.40	72	77
1067357	36.50	38.20	36.50	38.20	0.00	-0.04	40.00	0.04	0.00	0.04	10.80	85	64
1067407	36.80	38.10	36.90	38.09	-0.01	-0.04	40.00	0.05	0.00	0.01	14.44	89	60
1067457	36.50	38.50	36.40	38.49	0.01	-0.03	40.00	0.02	0.00	-0.03	6.04	81	68
1067507	37.00	38.40	35.70	37.36	0.13	-0.05	40.00	-0.08	0.00	-0.10	-23.17	51	98
1067557	37.40	38.70	37.10	38.64	0.03	-0.03	40.00	-0.00	0.00	0.07	-0.86	74	75
1067607	37.60	38.50	36.20	37.30	0.14	-0.05	40.00	-0.09	0.00	-0.08	-25.78	49	100
1067657	37.00	38.60	36.60	38.50	0.04	-0.03	40.00	-0.01	0.00	0.08	-3.00	72	77
1067707	37.30	38.60	36.40	38.09	0.09	-0.04	40.00	-0.05	0.00	-0.04	-15.57	59	90
1067757	37.40	38.30	36.50	37.80	0.09	-0.04	40.00	-0.05	0.00	0.01	-13.79	61	88
1067807	37.90	39.50	36.50	38.27	0.14	-0.03	40.00	-0.11	0.00	-0.06	-31.59	43	106
1067857	36.80	38.30	36.60	38.27	0.02	-0.03	40.00	0.01	0.00	0.12	4.35	79	70
1067907	37.20	38.80	36.70	38.64	0.05	-0.03	40.00	-0.02	0.00	-0.04	-6.85	68	81
1067957	37.20	38.70	36.90	38.64	0.03	-0.03	40.00	-0.00	0.00	0.02	-0.86	74	75
1068007	37.10	37.60	36.70	37.50	0.04	-0.05	40.00	0.01	0.00	0.01	2.99	77	72
1068057	36.70	38.70	36.50	38.67	0.02	-0.03	40.00	0.01	0.00	-0.00	1.95	76	73
1068107	35.70	37.90	36.20	37.75	-0.05	-0.05	40.00	0.10	0.00	0.09	28.53	103	46
1068157	35.30	37.30	35.90	37.08	-0.06	-0.06	40.00	0.12	0.00	0.02	35.51	110	39
1068207	35.20	37.30	35.60	37.20	-0.04	-0.06	40.00	0.10	0.00	-0.02	28.78	103	46
1068257	35.20	36.50	34.70	36.35	0.05	-0.07	40.00	0.02	0.00	-0.07	6.89	81	68
1068307	34.90	36.60	35.20	36.55	-0.03	-0.07	40.00	0.10	0.00	0.08	29.72	104	45
1068357	35.10	36.20	34.50	36.05	0.05	-0.08	40.00	0.03	0.00	-0.07	8.68	83	66
1068407	34.60	36.10	34.70	36.09	-0.01	-0.08	40.00	0.09	0.00	0.06	26.44	101	48
1068457	33.70	36.40	34.20	36.25	-0.05	-0.07	40.00	0.12	0.00	0.04	37.49	112	37
1068507	34.40	36.40	34.10	36.35	0.03	-0.07	40.00	0.04	0.00	-0.08	12.92	87	62
1068557	34.70	36.00	34.20	35.79	0.06	-0.08	40.00	0.02	0.00	-0.02	7.26	82	67
1068607	33.90	36.00	33.40	35.85	0.05	-0.08	40.00	0.03	0.00	0.01	9.88	84	65
1068657	34.60	35.60	34.10	35.46	0.05	-0.09	40.00	0.04	0.00	0.01	12.27	87	62
1068707	34.80	35.30	33.80	34.73	0.10	-0.11	40.00	0.01	0.00	-0.04	1.62	76	73
1068757	35.10	36.00	34.00	35.30	0.11	-0.09	40.00	-0.02	0.00	-0.02	-4.79	70	79
1068807	33.90	35.90	34.60	35.61	-0.07	-0.09	40.00	0.16	0.00	0.17	47.31	122	27
1068857	34.30	36.10	33.90	36.01	0.04	-0.08	40.00	0.04	0.00	-0.12	11.96	86	63
1068907	34.60	36.50	33.70	36.02	0.09	-0.08	40.00	-0.01	0.00	-0.05	-3.13	71	78
1068957	35.10	36.80	33.90	35.95	0.12	-0.08	40.00	-0.04	0.00	-0.03	-11.70	63	86
1069007	35.20	35.90	35.10	35.89	0.01	-0.08	40.00	0.07	0.00	0.11	21.64	96	53
1069057	35.50	37.10	34.90	36.88	0.06	-0.06	40.00	0.00	0.00	-0.07	0.70	75	74
1069107	35.70	36.40	34.90	36.02	0.08	-0.08	40.00	-0.00	0.00	-0.00	-0.14	74	75
1069157	35.20	37.10	34.30	36.61	0.09	-0.07	40.00	-0.02	0.00	-0.02	-6.68	68	81
1069207	35.80	37.30	35.00	37.30	0.00	-0.05	40.00	0.05	0.00	0.08	16.20	91	58
1069257	36.90	36.60	35.70	35.75	0.12	-0.08	40.00	-0.04	0.00	-0.09	-10.53	64	85
1069307	36.70	37.70	35.80	37.21	0.09	-0.06	40.00	-0.03	0.00	0.00	-10.24	64	85
1069357	35.90	37.70	35.30	37.48	0.06	-0.05	40.00	-0.01	0.00	0.02	-2.88	72	77
1069407	36.10	37.00	35.30	36.62	0.08	-0.07	40.00	-0.01	0.00	-0.00	-3.70	71	78
1069457	35.90	38.10	35.20	37.80	0.07	-0.04	40.00	-0.03	0.00	-0.01	-7.78	67	82
1069507	36.60	37.50	36.20	37.40	0.04	-0.05	40.00	0.01	0.00	0.04	3.59	78	71
1069557	35.80	39.20	35.90	39.19	-0.01	-0.02	40.00	0.03	0.00	0.01	7.84	82	67
1069607	36.30	38.70	35.40	38.19	0.09	-0.04	40.00	-0.05	0.00	-0.08	-16.16	58	91
1069657	36.10	38.00	36.50	37.90	-0.04	-0.04	40.00	0.08	0.00	0.14	24.59	99	50
1069707	37.00	38.70	36.50	38.54	0.05	-0.03	40.00	-0.02	0.00	-0.10	-6.25	68	81
1069757	37.30	38.80	35.20	36.15	0.21	-0.08	40.00	-0.13	0.00	-0.11	-39.90	35	114
1069807	37.00	39.20	36.30	38.89	0.07	-0.02	40.00	-0.05	0.00	0.09	-14.33	60	89
1069857	37.90	39.00	36.20	37.22	0.17	-0.06	40.00	-0.11	0.00	-0.07	-34.34	40	109
1069907	38.10	39.70	36.70	38.46	0.14	-0.03	40.00	-0.11	0.00	0.01	-32.76	42	107
1069957	37.00	39.10	37.20	39.07	-0.02	-0.02	40.00	0.04	0.00	0.15	11.55	86	63
1070007	37.00	40.10	37.20	40.07	-0.02	0.00	40.00	0.02	0.00	-0.02	5.56	80	69
1070057	36.80	39.40	37.00	39.37	-0.02	-0.01	40.00	0.03	0.00	0.01	9.75	84	65
1070107	37.30	39.10	37.10	39.07	0.02	-0.02	40.00	-0.00	0.00	-0.03	-0.45	74	75
1070157	37.20	39.70	37.10	39.69	0.01	-0.01	40.00	-0.00	0.00	-0.00	-1.16	73	76
1070207	37.10	39.10	37.10	39.10	0.00	-0.02	40.00	0.02	0.00	0.02	5.40	80	69
1070257	37.40	38.50	37.60	38.47	-0.02	-0.03	40.00	0.05	0.00	0.03	15.15	90	59
1070307	37.00	39.00	37.10	38.99	-0.01	-0.02	40.00	0.03	0.00	-0.02	9.04	84	65
1070357	36.40	38.70	37.00	38.70	0.00	-0.03	40.00	0.03	0.00	-0.00	7.80	82	67
1070407	35.60	38.50	36.50	38.00	-0.09	-0.04	40.00	0.13	0.00	0.10	39.03	114	35
1070457	37.00	38.10	36.30	37.80	0.07	-0.04	40.00	-0.03	0.00	-0.16	-7.78	67	82
1070507	36.10	38.40	36.40	38.34	-0.03	-0.03	40.00	0.06	0.00	0.09	18.94	93	56
1070557	35.80	36.90	35.50	36.85	0.03	-0.06	40.00	0.03	0.00	-0.03	9.93	84	65
1070607	35.10	38.00	35.70	37.78	-0.06	-0.04	40.00	0.10	0.00	0.07	31.33	106	43
1070657	35.20	37.10	35.40	37.08	-0.02	-0.06	40.00	0.08	0.00	-0.03	23.55	98	51
1070707	35.20	37.60	35.20	37.60	0.00	-0.05	40.00	0.05	0.00	-0.03	14.40	89	60
1070757	35.20	36.90	34.90	36.85	0.03	-0.06	40.00	0.03	0.00	-0.01	9.93	84	65
1070807	36.00	37.30	34.80	36.44	0.12	-0.07	40.00	-0.05	0.00	-0.08	-14.63	60	89
1070857	35.10	37.20	34.90	37.18	0.02	-0.06	40.00	0.04	0.00	0.09	10.95	85	64
1070907	35.40	37.10	34.70	36.80	0.07	-0.06	40.00	-0.01	0.00	-0.04	-1.83	73	76
1070957	35.80	37.00	35.00	36.62	0.08	-0.07	40.00	-0.01	0.00	-0.01	-3.70	71	78
1071007	35.20	37.80	34.70	37.65	0.05	-0.05	40.00	-0.00	0.00	0.01	-0.88	74	75
1071057	35.30	37.50	35.10	37.48	0.02	-0.05	40.00	0.03	0.00	0.03	9.15	84	65
1071107	35.90	36.90	34.40	35.58	0.15	-0.09	40.00	-0.06	0.00	-0.09	-18.49	56	93
1071157	35.90	37.30	35.40	37.15	0.05	-0.06	40.00	0.01	0.00	0.07	2.11	77	72
1071207	35.60	37.20	34.80	36.81	0.08	-0.06	40.00	-0.02	0.00	-0.02	-4.89	70	79
1071257	36.20	37.10	35.40	37.08	-0.02	-0.06	40.00	0.08	0.00	0.09	23.55	98	51
1071307	36.00	37.20	35.50	37.15	0.03	-0.06	40.00	0.03	0.00	-0.05	8.13	83	66
1071357	35.90	37.70	33.80	35.13	0.21	-0.10	40.00	-0.11	0.00	-0.14	-33.75	41	108
1071407	36.00	38.40	35.40	38.18	0.06	-0.04	40.00	-0.02	0.00	0.09	-7.05	67	82
1071457	35.80	38.20	35.30	38.04	0.05	-0.04	40.00	-0.01	0.00	0.01	-3.27	71	78
1071507	35.70	37.50	35.80	37.49	-0.01	-0.05	40.00	0.06	0.00	0.07	18.04	93	56
1071557	35.50	37.30	35.50	37.30	0.00	-0.05	40.00	0.05	0.00	-0.01	16.20	91	58
1071607	35.90	38.40	35.30	38.18	0.06	-0.04	40.00	-0.02	0.00	-0.08	-7.05	67	82
1071657	36.10	38.30	35.40	38.00	0.07	-0.04	40.00	-0.03	0.00	-0.01	-8.97	66	83
1071707	35.90	37.80	36.00	37.79	-0.01	-0.04	40.00	0.05	0.00	0.08	16.24	91	58
1071757	36.20	38.80	36.30	38.79	-0.01	-0.02	40.00	0.03	0.00	-0.02	10.24	85	64
1071807	37.00	38.90	35.70	37.85	0.13	-0.04	40.00	-0.09	0.00	-0.12	-26.09	48	101
1071857	37.00	38.70	35.80	37.81	0.12	-0.04	40.00	-0.08	0.00	0.01	-22.84	52	97
1071907	36.90	38.90	36.30	38.67	0.06	-0.03	40.00	-0.03	0.00	0.04	-10.03	64	85
1071957	37.50	39.40	37.10	39.17	-0.06	-0.02	40.00	0.08	0.00	0.11	22.98	97	52
1072007	37.40	40.50	35.30	37.73	0.21	-0.05	40.00	-0.16	0.00	-0.24	-49.40	25	124
1072057	38.10	39.70	36.80	38.63	0.13	-0.03	40.00	-0.10	0.00	0.06	-30.76	44	105
1072107	37.80	39.20	37.70	39.19	0.01	-0.02	40.00	0.01	0.00	0.11	1.84	76	73
1072157	38.50	39.80	36.70	37.78	0.18	-0.04	40.00	-0.14	0.00	-0.14	-40.65	34	115
1072207	37.90	40.60	38.00	40.59	-0.01	0.01	40.00	-0.00	0.00	0.13	-0.56	74	75
1072257	38.60	39.40	37.60	38.76	0.10	-0.02	40.00	-0.08	0.00	-0.07	-22.59	52	97
1072307	38.60	40.20	38.00	39.96	0.06	-0.00	40.00	-0.06	0.00	0.02	-17.79	57	92
1072357	38.60	40.60	38.10	40.43	0.05	0.01	40.00	-0.06	0.00	0.00	-17.61	57	92
1072407	38.70	40.50	36.90	38.44	0.18	-0.03	40.00	-0.15	0.00	-0.09	-44.64	30	119
1072457	38.30	41.20	36.80	39.73	0.15	-0.01	40.00	-0.14	0.00	0.00	-43.36	31	118
1072507	37.80	40.40	37.50	40.34	0.03	0.01	40.00	-0.04	0.00	0.11	-11.04	63	86
1072557	38.20	40.80	37.30	40.27	0.09	0.01	40.00	-0.10	0.00	-0.06	-28.59	46	103
1072607	37.80	40.30	38.00	40.27	-0.02	0.01	40.00	0.01	0.00	0.11	4.36	79	70
1072657	38.00	39.40	37.90	39.39	0.01	-0.01	40.00	0.00	0.00	-0.01	0.64	75	74
1072707	37.10	39.00	38.30	38.10	-0.12	-0.04	40.00	0.16	0.00	0.16	47.41	122	27
1072757	37.30	39.60	37.50	39.57	-0.02	-0.01	40.00	0.03	0.00	-0.13	8.56	83	66
1072807	36.40	37.90	38.80	34.57	-0.24	-0.11	40.00	0.35	0.00	0.32	104.57	127	0
1072857	36.40	38.30	36.90	38.14	-0.05	-0.04	40.00	0.09	0.00	-0.26	26.14	101	48
1072907	35.10	36.10	37.20	33.63	-0.21	-0.13	40.00	0.34	0.00	0.25	101.19	127	0

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Front Center Rear Steer

33.10 33.40 31.40 0.17

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 300.00 0.00 0.00

Msec LF LC LR Steer Deg Cos LCCorr Set Err SpinDeg

WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd

1065957 32.50 33.40 31.60 33.13 0.07 -0.14 40.00 0.07 0.00 0.07 20.19 95 54

1066007 32.50 33.40 31.20 32.50 0.13 -0.15 40.00 0.02 0.00 -0.05 6.02 81 68

1066057 32.60 33.20 31.10 32.01 0.15 -0.16 40.00 0.01 0.00 -0.01 2.92 77 72

1066107 33.20 33.70 31.10 31.40 0.21 -0.17 40.00 -0.04 0.00 -0.05 -11.39 63 86

1066157 32.70 34.10 31.70 33.55 0.10 -0.13 40.00 0.03 0.00 0.07 8.70 83 66

1066207 33.50 34.90 32.10 33.81 0.14 -0.12 40.00 -0.02 0.00 -0.05 -4.86 70 79

1066257 33.60 33.60 32.20 32.55 0.14 -0.15 40.00 0.01 0.00 0.03 2.70 77 72

1066307 34.10 34.80 32.70 33.71 0.14 -0.13 40.00 -0.01 0.00 -0.02 -4.28 70 79

1066357 33.90 35.50 33.30 35.29 0.06 -0.09 40.00 0.03 0.00 0.05 10.25 85 64

1066407 33.90 35.50 33.30 35.29 0.06 -0.09 40.00 0.03 0.00 0.00 10.25 85 64

1066457 34.70 35.90 33.20 34.62 0.15 -0.11 40.00 -0.04 0.00 -0.08 -12.70 62 87

1066507 34.70 35.80 33.90 35.43 0.08 -0.09 40.00 0.01 0.00 0.05 3.43 78 71

1066557 34.90 36.20 34.00 35.73 0.09 -0.09 40.00 -0.00 0.00 -0.02 -1.36 73 76

1066607 35.10 36.80 33.90 35.95 0.12 -0.08 40.00 -0.04 0.00 -0.03 -11.70 63 86

1066657 36.10 36.80 34.80 35.81 0.13 -0.08 40.00 -0.05 0.00 -0.01 -13.83 61 88

1066707 35.60 37.00 34.60 36.40 0.10 -0.07 40.00 -0.03 0.00 0.02 -8.42 66 83

1066757 35.60 37.40 35.00 37.18 0.06 -0.06 40.00 -0.00 0.00 0.02 -1.09 73 76

1066807 36.00 37.30 34.80 36.44 0.12 -0.07 40.00 -0.05 0.00 -0.05 -14.63 60 89

1066857 35.50 36.80 35.10 36.70 0.04 -0.07 40.00 0.03 0.00 0.07 7.78 82 67

1066907 35.90 37.60 35.60 37.54 0.03 -0.05 40.00 0.02 0.00 -0.01 5.73 80 69

1066957 36.80 37.60 35.10 35.89 0.17 -0.08 40.00 -0.09 0.00 -0.11 -26.32 48 101

1067007 36.40 38.00 35.30 37.26 0.11 -0.05 40.00 -0.06 0.00 0.03 -16.56 58 91

1067057 36.50 38.10 35.10 36.91 0.14 -0.06 40.00 -0.08 0.00 -0.02 -23.46 51 98

1067107 37.00 38.20 35.60 37.90 0.07 -0.04 40.00 -0.03 0.00 0.05 -8.38 66 83

1067157 37.40 37.90 36.60 37.51 0.08 -0.05 40.00 -0.03 0.00 -0.00 -9.04 65 84

1067207 36.90 38.20 36.10 37.80 0.08 -0.04 40.00 -0.04 0.00 -0.01 -10.82 64 85

1067257 37.40 38.50 36.30 37.75 0.11 -0.04 40.00 -0.07 0.00 -0.03 -19.50 55 94

1067307 36.40 38.50 36.00 38.40 0.04 -0.03 40.00 -0.01 0.00 0.06 -2.40 72 77

1067357 36.50 38.20 36.50 38.20 0.00 -0.04 40.00 0.04 0.00 0.04 10.80 85 64

1067407 36.80 38.10 36.90 38.09 -0.01 -0.04 40.00 0.05 0.00 0.01 14.44 89 60

1067457 36.50 38.50 36.40 38.49 0.01 -0.03 40.00 0.02 0.00 -0.03 6.04 81 68

1067507 37.00 38.40 35.70 37.36 0.13 -0.05 40.00 -0.08 0.00 -0.10 -23.17 51 98

1067557 37.40 38.70 37.10 38.64 0.03 -0.03 40.00 -0.00 0.00 0.07 -0.86 74 75

1067607 37.60 38.50 36.20 37.30 0.14 -0.05 40.00 -0.09 0.00 -0.08 -25.78 49 100

1067657 37.00 38.60 36.60 38.50 0.04 -0.03 40.00 -0.01 0.00 0.08 -3.00 72 77

1067707 37.30 38.60 36.40 38.09 0.09 -0.04 40.00 -0.05 0.00 -0.04 -15.57 59 90

1067757 37.40 38.30 36.50 37.80 0.09 -0.04 40.00 -0.05 0.00 0.01 -13.79 61 88

1067807 37.90 39.50 36.50 38.27 0.14 -0.03 40.00 -0.11 0.00 -0.06 -31.59 43 106

1067857 36.80 38.30 36.60 38.27 0.02 -0.03 40.00 0.01 0.00 0.12 4.35 79 70

1067907 37.20 38.80 36.70 38.64 0.05 -0.03 40.00 -0.02 0.00 -0.04 -6.85 68 81

1067957 37.20 38.70 36.90 38.64 0.03 -0.03 40.00 -0.00 0.00 0.02 -0.86 74 75

1068007 37.10 37.60 36.70 37.50 0.04 -0.05 40.00 0.01 0.00 0.01 2.99 77 72

1068057 36.70 38.70 36.50 38.67 0.02 -0.03 40.00 0.01 0.00 -0.00 1.95 76 73

1068107 35.70 37.90 36.20 37.75 -0.05 -0.05 40.00 0.10 0.00 0.09 28.53 103 46

1068157 35.30 37.30 35.90 37.08 -0.06 -0.06 40.00 0.12 0.00 0.02 35.51 110 39

1068207 35.20 37.30 35.60 37.20 -0.04 -0.06 40.00 0.10 0.00 -0.02 28.78 103 46

1068257 35.20 36.50 34.70 36.35 0.05 -0.07 40.00 0.02 0.00 -0.07 6.89 81 68

1068307 34.90 36.60 35.20 36.55 -0.03 -0.07 40.00 0.10 0.00 0.08 29.72 104 45

1068357 35.10 36.20 34.50 36.05 0.05 -0.08 40.00 0.03 0.00 -0.07 8.68 83 66

1068407 34.60 36.10 34.70 36.09 -0.01 -0.08 40.00 0.09 0.00 0.06 26.44 101 48

1068457 33.70 36.40 34.20 36.25 -0.05 -0.07 40.00 0.12 0.00 0.04 37.49 112 37

1068507 34.40 36.40 34.10 36.35 0.03 -0.07 40.00 0.04 0.00 -0.08 12.92 87 62

1068557 34.70 36.00 34.20 35.79 0.06 -0.08 40.00 0.02 0.00 -0.02 7.26 82 67

1068607 33.90 36.00 33.40 35.85 0.05 -0.08 40.00 0.03 0.00 0.01 9.88 84 65

1068657 34.60 35.60 34.10 35.46 0.05 -0.09 40.00 0.04 0.00 0.01 12.27 87 62

1068707 34.80 35.30 33.80 34.73 0.10 -0.11 40.00 0.01 0.00 -0.04 1.62 76 73

1068757 35.10 36.00 34.00 35.30 0.11 -0.09 40.00 -0.02 0.00 -0.02 -4.79 70 79

1068807 33.90 35.90 34.60 35.61 -0.07 -0.09 40.00 0.16 0.00 0.17 47.31 122 27

1068857 34.30 36.10 33.90 36.01 0.04 -0.08 40.00 0.04 0.00 -0.12 11.96 86 63

1068907 34.60 36.50 33.70 36.02 0.09 -0.08 40.00 -0.01 0.00 -0.05 -3.13 71 78

1068957 35.10 36.80 33.90 35.95 0.12 -0.08 40.00 -0.04 0.00 -0.03 -11.70 63 86

1069007 35.20 35.90 35.10 35.89 0.01 -0.08 40.00 0.07 0.00 0.11 21.64 96 53

1069057 35.50 37.10 34.90 36.88 0.06 -0.06 40.00 0.00 0.00 -0.07 0.70 75 74

1069107 35.70 36.40 34.90 36.02 0.08 -0.08 40.00 -0.00 0.00 -0.00 -0.14 74 75

1069157 35.20 37.10 34.30 36.61 0.09 -0.07 40.00 -0.02 0.00 -0.02 -6.68 68 81

1069207 35.80 37.30 35.00 37.30 0.00 -0.05 40.00 0.05 0.00 0.08 16.20 91 58

1069257 36.90 36.60 35.70 35.75 0.12 -0.08 40.00 -0.04 0.00 -0.09 -10.53 64 85

1069307 36.70 37.70 35.80 37.21 0.09 -0.06 40.00 -0.03 0.00 0.00 -10.24 64 85

1069357 35.90 37.70 35.30 37.48 0.06 -0.05 40.00 -0.01 0.00 0.02 -2.88 72 77

1069407 36.10 37.00 35.30 36.62 0.08 -0.07 40.00 -0.01 0.00 -0.00 -3.70 71 78

1069457 35.90 38.10 35.20 37.80 0.07 -0.04 40.00 -0.03 0.00 -0.01 -7.78 67 82

1069507 36.60 37.50 36.20 37.40 0.04 -0.05 40.00 0.01 0.00 0.04 3.59 78 71

1069557 35.80 39.20 35.90 39.19 -0.01 -0.02 40.00 0.03 0.00 0.01 7.84 82 67

1069607 36.30 38.70 35.40 38.19 0.09 -0.04 40.00 -0.05 0.00 -0.08 -16.16 58 91

1069657 36.10 38.00 36.50 37.90 -0.04 -0.04 40.00 0.08 0.00 0.14 24.59 99 50

1069707 37.00 38.70 36.50 38.54 0.05 -0.03 40.00 -0.02 0.00 -0.10 -6.25 68 81

1069757 37.30 38.80 35.20 36.15 0.21 -0.08 40.00 -0.13 0.00 -0.11 -39.90 35 114

1069807 37.00 39.20 36.30 38.89 0.07 -0.02 40.00 -0.05 0.00 0.09 -14.33 60 89

1069857 37.90 39.00 36.20 37.22 0.17 -0.06 40.00 -0.11 0.00 -0.07 -34.34 40 109

1069907 38.10 39.70 36.70 38.46 0.14 -0.03 40.00 -0.11 0.00 0.01 -32.76 42 107

1069957 37.00 39.10 37.20 39.07 -0.02 -0.02 40.00 0.04 0.00 0.15 11.55 86 63

1070007 37.00 40.10 37.20 40.07 -0.02 0.00 40.00 0.02 0.00 -0.02 5.56 80 69

1070057 36.80 39.40 37.00 39.37 -0.02 -0.01 40.00 0.03 0.00 0.01 9.75 84 65

1070107 37.30 39.10 37.10 39.07 0.02 -0.02 40.00 -0.00 0.00 -0.03 -0.45 74 75

1070157 37.20 39.70 37.10 39.69 0.01 -0.01 40.00 -0.00 0.00 -0.00 -1.16 73 76

1070207 37.10 39.10 37.10 39.10 0.00 -0.02 40.00 0.02 0.00 0.02 5.40 80 69

1070257 37.40 38.50 37.60 38.47 -0.02 -0.03 40.00 0.05 0.00 0.03 15.15 90 59

1070307 37.00 39.00 37.10 38.99 -0.01 -0.02 40.00 0.03 0.00 -0.02 9.04 84 65

1070357 36.40 38.70 37.00 38.70 0.00 -0.03 40.00 0.03 0.00 -0.00 7.80 82 67

1070407 35.60 38.50 36.50 38.00 -0.09 -0.04 40.00 0.13 0.00 0.10 39.03 114 35

1070457 37.00 38.10 36.30 37.80 0.07 -0.04 40.00 -0.03 0.00 -0.16 -7.78 67 82

1070507 36.10 38.40 36.40 38.34 -0.03 -0.03 40.00 0.06 0.00 0.09 18.94 93 56

1070557 35.80 36.90 35.50 36.85 0.03 -0.06 40.00 0.03 0.00 -0.03 9.93 84 65

1070607 35.10 38.00 35.70 37.78 -0.06 -0.04 40.00 0.10 0.00 0.07 31.33 106 43

1070657 35.20 37.10 35.40 37.08 -0.02 -0.06 40.00 0.08 0.00 -0.03 23.55 98 51

1070707 35.20 37.60 35.20 37.60 0.00 -0.05 40.00 0.05 0.00 -0.03 14.40 89 60

1070757 35.20 36.90 34.90 36.85 0.03 -0.06 40.00 0.03 0.00 -0.01 9.93 84 65

1070807 36.00 37.30 34.80 36.44 0.12 -0.07 40.00 -0.05 0.00 -0.08 -14.63 60 89

1070857 35.10 37.20 34.90 37.18 0.02 -0.06 40.00 0.04 0.00 0.09 10.95 85 64

1070907 35.40 37.10 34.70 36.80 0.07 -0.06 40.00 -0.01 0.00 -0.04 -1.83 73 76

1070957 35.80 37.00 35.00 36.62 0.08 -0.07 40.00 -0.01 0.00 -0.01 -3.70 71 78

1071007 35.20 37.80 34.70 37.65 0.05 -0.05 40.00 -0.00 0.00 0.01 -0.88 74 75

1071057 35.30 37.50 35.10 37.48 0.02 -0.05 40.00 0.03 0.00 0.03 9.15 84 65

1071107 35.90 36.90 34.40 35.58 0.15 -0.09 40.00 -0.06 0.00 -0.09 -18.49 56 93

1071157 35.90 37.30 35.40 37.15 0.05 -0.06 40.00 0.01 0.00 0.07 2.11 77 72

1071207 35.60 37.20 34.80 36.81 0.08 -0.06 40.00 -0.02 0.00 -0.02 -4.89 70 79

1071257 36.20 37.10 35.40 37.08 -0.02 -0.06 40.00 0.08 0.00 0.09 23.55 98 51

1071307 36.00 37.20 35.50 37.15 0.03 -0.06 40.00 0.03 0.00 -0.05 8.13 83 66

1071357 35.90 37.70 33.80 35.13 0.21 -0.10 40.00 -0.11 0.00 -0.14 -33.75 41 108

1071407 36.00 38.40 35.40 38.18 0.06 -0.04 40.00 -0.02 0.00 0.09 -7.05 67 82

1071457 35.80 38.20 35.30 38.04 0.05 -0.04 40.00 -0.01 0.00 0.01 -3.27 71 78

1071507 35.70 37.50 35.80 37.49 -0.01 -0.05 40.00 0.06 0.00 0.07 18.04 93 56

1071557 35.50 37.30 35.50 37.30 0.00 -0.05 40.00 0.05 0.00 -0.01 16.20 91 58

1071607 35.90 38.40 35.30 38.18 0.06 -0.04 40.00 -0.02 0.00 -0.08 -7.05 67 82

1071657 36.10 38.30 35.40 38.00 0.07 -0.04 40.00 -0.03 0.00 -0.01 -8.97 66 83

1071707 35.90 37.80 36.00 37.79 -0.01 -0.04 40.00 0.05 0.00 0.08 16.24 91 58

1071757 36.20 38.80 36.30 38.79 -0.01 -0.02 40.00 0.03 0.00 -0.02 10.24 85 64

1071807 37.00 38.90 35.70 37.85 0.13 -0.04 40.00 -0.09 0.00 -0.12 -26.09 48 101

1071857 37.00 38.70 35.80 37.81 0.12 -0.04 40.00 -0.08 0.00 0.01 -22.84 52 97

1071907 36.90 38.90 36.30 38.67 0.06 -0.03 40.00 -0.03 0.00 0.04 -10.03 64 85

1071957 37.50 39.40 37.10 39.17 -0.06 -0.02 40.00 0.08 0.00 0.11 22.98 97 52

1072007 37.40 40.50 35.30 37.73 0.21 -0.05 40.00 -0.16 0.00 -0.24 -49.40 25 124

1072057 38.10 39.70 36.80 38.63 0.13 -0.03 40.00 -0.10 0.00 0.06 -30.76 44 105

1072107 37.80 39.20 37.70 39.19 0.01 -0.02 40.00 0.01 0.00 0.11 1.84 76 73

1072157 38.50 39.80 36.70 37.78 0.18 -0.04 40.00 -0.14 0.00 -0.14 -40.65 34 115

1072207 37.90 40.60 38.00 40.59 -0.01 0.01 40.00 -0.00 0.00 0.13 -0.56 74 75

1072257 38.60 39.40 37.60 38.76 0.10 -0.02 40.00 -0.08 0.00 -0.07 -22.59 52 97

1072307 38.60 40.20 38.00 39.96 0.06 -0.00 40.00 -0.06 0.00 0.02 -17.79 57 92

1072357 38.60 40.60 38.10 40.43 0.05 0.01 40.00 -0.06 0.00 0.00 -17.61 57 92

1072407 38.70 40.50 36.90 38.44 0.18 -0.03 40.00 -0.15 0.00 -0.09 -44.64 30 119

1072457 38.30 41.20 36.80 39.73 0.15 -0.01 40.00 -0.14 0.00 0.00 -43.36 31 118

1072507 37.80 40.40 37.50 40.34 0.03 0.01 40.00 -0.04 0.00 0.11 -11.04 63 86

1072557 38.20 40.80 37.30 40.27 0.09 0.01 40.00 -0.10 0.00 -0.06 -28.59 46 103

1072607 37.80 40.30 38.00 40.27 -0.02 0.01 40.00 0.01 0.00 0.11 4.36 79 70

1072657 38.00 39.40 37.90 39.39 0.01 -0.01 40.00 0.00 0.00 -0.01 0.64 75 74

1072707 37.10 39.00 38.30 38.10 -0.12 -0.04 40.00 0.16 0.00 0.16 47.41 122 27

1072757 37.30 39.60 37.50 39.57 -0.02 -0.01 40.00 0.03 0.00 -0.13 8.56 83 66

1072807 36.40 37.90 38.80 34.57 -0.24 -0.11 40.00 0.35 0.00 0.32 104.57 127 0

1072857 36.40 38.30 36.90 38.14 -0.05 -0.04 40.00 0.09 0.00 -0.26 26.14 101 48

1072907 35.10 36.10 37.20 33.63 -0.21 -0.13 40.00 0.34 0.00 0.25 101.19 127 0

This run started with the robot placed roughly parallel to and offset about 32cm from the start of the 4m straight wall section. For the first two seconds the offset increased monotonically to about 38cm, and after that the robot maintained an offset between 35 and 39cm. The average for the ‘maintenance’ portion of the run was approximately 38cm – nice!

PID(350,0,0), divisor = 50:

Front	Center	Rear	Steer
26.90	29.20	26.30	0.06

26.60	28.60	25.80	0.12

26.90	28.30	25.80	0.11

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00	0.00	0.00
Msec	LF	LC	LR	Steer	Deg	Cos	LCCorr	Set	Err	SpinDeg
WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
83213	27.70	27.60	26.30	26.74	0.14	-0.27	40.00	0.13	0.00	0.13	43.84	118	31
83263	27.70	27.40	27.20	27.29	0.05	-0.25	40.00	0.20	0.00	0.08	71.48	127	3
83313	27.80	27.50	26.70	26.96	0.11	-0.26	40.00	0.15	0.00	-0.05	52.75	127	22
83363	28.20	27.00	26.30	25.48	0.19	-0.29	40.00	0.10	0.00	-0.05	35.17	110	39
83413	28.20	27.80	26.30	26.23	0.19	-0.28	40.00	0.09	0.00	-0.02	29.88	104	45
83463	28.90	28.10	26.40	25.44	0.25	-0.29	40.00	0.04	0.00	-0.04	14.44	89	60
83513	29.80	29.60	27.10	26.37	0.27	-0.27	40.00	0.00	0.00	-0.04	0.93	75	74
83563	30.00	30.40	28.30	29.01	0.17	-0.22	40.00	0.05	0.00	0.05	17.40	92	57
83613	31.00	31.50	29.00	29.54	0.20	-0.21	40.00	0.01	0.00	-0.04	3.22	78	71
83663	31.90	31.30	30.10	29.71	0.18	-0.21	40.00	0.03	0.00	0.02	9.05	84	65
83713	32.70	31.40	29.40	26.48	0.33	-0.27	40.00	-0.06	0.00	-0.09	-20.83	54	95
83763	32.70	33.90	30.80	31.99	0.19	-0.16	40.00	-0.03	0.00	0.03	-10.41	64	85
83813	33.90	34.80	30.70	29.63	0.32	-0.21	40.00	-0.11	0.00	-0.08	-39.42	35	114
83863	34.50	35.20	31.70	31.09	0.28	-0.18	40.00	-0.10	0.00	0.01	-35.63	39	110
83913	34.40	35.40	32.50	33.40	0.19	-0.13	40.00	-0.06	0.00	0.04	-20.32	54	95
83963	35.20	35.70	33.30	33.69	0.19	-0.13	40.00	-0.06	0.00	-0.01	-22.30	52	97
84013	35.60	36.60	33.20	33.39	0.24	-0.13	40.00	-0.11	0.00	-0.04	-37.70	37	112
84063	35.90	36.70	33.70	33.96	0.22	-0.12	40.00	-0.10	0.00	0.01	-34.74	40	109
84113	36.50	37.50	34.60	36.77	0.11	-0.06	40.00	-0.05	0.00	0.05	-15.89	59	90
84163	37.00	38.40	34.40	34.49	0.26	-0.11	40.00	-0.15	0.00	-0.10	-52.41	22	127
84213	36.50	38.00	35.30	37.12	0.12	-0.06	40.00	-0.06	0.00	0.09	-21.85	53	96
84263	36.30	37.90	35.40	37.40	0.09	-0.05	40.00	-0.04	0.00	0.02	-13.33	61	88
84313	36.80	37.30	35.40	36.13	0.14	-0.08	40.00	-0.06	0.00	-0.02	-21.94	53	96
84363	36.60	37.70	35.50	36.97	0.11	-0.06	40.00	-0.05	0.00	0.01	-17.26	57	92
84413	36.50	37.90	35.80	37.60	0.07	-0.05	40.00	-0.02	0.00	0.03	-7.69	67	82
84463	36.30	38.50	35.40	38.00	0.09	-0.04	40.00	-0.05	0.00	-0.03	-17.47	57	92
84513	36.70	38.20	36.20	38.04	0.05	-0.04	40.00	-0.01	0.00	0.04	-3.81	71	78
84563	37.10	37.80	35.90	36.93	0.12	-0.06	40.00	-0.06	0.00	-0.05	-20.49	54	95
84613	36.50	38.20	35.80	37.90	0.07	-0.04	40.00	-0.03	0.00	0.03	-9.77	65	84
84663	37.50	38.00	36.00	36.64	0.15	-0.07	40.00	-0.08	0.00	-0.05	-28.99	46	103
84713	37.00	37.60	35.70	36.58	0.13	-0.07	40.00	-0.06	0.00	0.02	-21.59	53	96
84763	37.00	37.50	36.80	37.48	0.02	-0.05	40.00	0.03	0.00	0.09	10.67	85	64
84813	36.70	37.00	36.30	36.90	0.04	-0.06	40.00	0.02	0.00	-0.01	7.68	82	67
84863	36.40	37.80	36.00	37.70	0.04	-0.05	40.00	0.01	0.00	-0.02	2.09	77	72
84913	36.90	38.20	35.80	37.46	0.11	-0.05	40.00	-0.06	0.00	-0.07	-20.69	54	95
84963	36.20	38.40	36.30	38.39	-0.01	-0.03	40.00	0.04	0.00	0.10	14.74	89	60
85013	36.30	37.40	35.40	36.91	0.09	-0.06	40.00	-0.03	0.00	-0.07	-9.87	65	84
85063	35.90	37.60	35.10	37.21	0.08	-0.06	40.00	-0.02	0.00	0.00	-8.47	66	83
85113	35.40	37.30	35.50	37.29	-0.01	-0.05	40.00	0.06	0.00	0.09	22.44	97	52
85163	36.00	37.00	35.10	36.52	0.09	-0.07	40.00	-0.02	0.00	-0.08	-7.11	67	82
85213	36.10	38.10	35.10	37.49	0.10	-0.05	40.00	-0.05	0.00	-0.03	-17.40	57	92
85263	35.20	37.10	35.60	37.00	-0.04	-0.06	40.00	0.10	0.00	0.15	34.98	109	40
85313	36.10	37.10	35.80	37.05	0.03	-0.06	40.00	0.03	0.00	-0.07	10.18	85	64
85363	35.20	36.50	34.80	36.40	0.04	-0.07	40.00	0.03	0.00	0.00	11.17	86	63
85413	34.70	35.70	34.70	35.70	0.00	-0.09	40.00	0.09	0.00	0.05	30.10	105	44
85463	34.30	36.30	34.60	36.25	-0.03	-0.08	40.00	0.11	0.00	0.02	36.77	111	38
85513	34.70	35.60	34.40	35.55	0.03	-0.09	40.00	0.06	0.00	-0.05	20.67	95	54
85563	34.40	35.20	33.80	34.99	0.06	-0.10	40.00	0.04	0.00	-0.02	14.04	89	60
85613	34.10	34.70	33.90	34.68	0.02	-0.11	40.00	0.09	0.00	0.05	30.26	105	44
85663	34.20	34.90	34.10	34.89	0.01	-0.10	40.00	0.09	0.00	0.01	32.24	107	42
85713	33.90	34.90	33.40	34.76	0.05	-0.10	40.00	0.05	0.00	-0.04	19.19	94	55
85763	33.50	35.00	33.50	35.00	0.00	-0.10	40.00	0.10	0.00	0.05	35.00	110	40
85813	34.20	34.80	33.60	34.60	0.06	-0.11	40.00	0.05	0.00	-0.05	16.83	91	58
85863	34.00	35.30	32.50	34.04	0.15	-0.12	40.00	-0.03	0.00	-0.08	-10.77	64	85
85913	34.10	34.80	33.40	34.52	0.07	-0.11	40.00	0.04	0.00	0.07	13.84	88	61
85963	33.70	35.40	33.50	35.38	0.02	-0.09	40.00	0.07	0.00	0.03	25.36	100	49
86013	35.30	36.00	33.00	33.08	0.23	-0.14	40.00	-0.09	0.00	-0.16	-32.07	42	107
86063	34.40	34.90	33.60	34.54	0.08	-0.11	40.00	0.03	0.00	0.12	10.23	85	64
86113	34.80	35.50	33.60	34.68	0.12	-0.11	40.00	-0.01	0.00	-0.04	-4.76	70	79
86163	35.20	35.60	34.20	35.39	0.06	-0.09	40.00	0.03	0.00	0.05	11.26	86	63
86213	34.80	36.00	34.00	35.63	0.08	-0.09	40.00	0.01	0.00	-0.02	2.61	77	72
86263	34.10	36.30	34.00	36.29	0.01	-0.07	40.00	0.06	0.00	0.06	22.44	97	52
86313	35.00	35.90	34.60	35.81	0.04	-0.08	40.00	0.04	0.00	-0.02	15.36	90	59
86363	36.10	36.20	34.10	33.95	0.20	-0.12	40.00	-0.08	0.00	-0.12	-27.63	47	102
86413	35.50	36.70	35.60	36.69	-0.01	-0.07	40.00	0.08	0.00	0.16	26.64	101	48
86463	36.70	36.90	35.20	35.58	0.15	-0.09	40.00	-0.06	0.00	-0.14	-21.57	53	96
86513	36.10	37.30	34.90	36.44	0.12	-0.07	40.00	-0.05	0.00	0.01	-17.07	57	92
86563	36.90	37.60	35.20	35.89	0.17	-0.08	40.00	-0.09	0.00	-0.04	-30.71	44	105
86613	36.20	37.70	35.80	37.60	0.04	-0.05	40.00	0.01	0.00	0.10	2.79	77	72
86663	36.40	37.50	35.80	37.48	0.02	-0.05	40.00	0.03	0.00	0.02	10.67	85	64
86713	36.90	37.80	36.50	37.79	-0.01	-0.04	40.00	0.05	0.00	0.02	18.94	93	56
86763	36.50	38.20	36.00	38.04	0.05	-0.04	40.00	-0.01	0.00	-0.07	-3.81	71	78
86813	36.80	38.60	36.70	38.59	0.01	-0.03	40.00	0.02	0.00	0.03	6.34	81	68
86863	37.00	39.60	36.80	39.57	0.02	-0.01	40.00	-0.01	0.00	-0.03	-4.02	70	79
86913	37.00	39.30	37.00	39.30	0.00	-0.01	40.00	0.01	0.00	0.03	4.90	79	70
86963	38.00	38.70	37.40	38.47	0.06	-0.03	40.00	-0.03	0.00	-0.04	-10.31	64	85
87013	38.00	39.20	37.10	38.69	0.09	-0.03	40.00	-0.06	0.00	-0.03	-22.31	52	97
87063	38.00	40.10	37.70	40.09	-0.01	0.00	40.00	0.01	0.00	0.07	2.85	77	72
87113	38.30	40.40	37.20	39.47	0.12	-0.01	40.00	-0.11	0.00	-0.12	-38.27	36	113
87163	38.10	40.00	37.10	39.35	0.10	-0.01	40.00	-0.09	0.00	0.02	-30.48	44	105
87213	38.20	40.50	38.50	40.44	-0.03	0.01	40.00	0.02	0.00	0.11	7.42	82	67
87263	39.00	40.70	37.70	39.60	0.13	-0.01	40.00	-0.12	0.00	-0.14	-42.70	32	117
87313	39.70	40.40	37.90	38.34	0.18	-0.03	40.00	-0.15	0.00	-0.02	-51.41	23	126
87363	38.50	40.40	38.60	40.24	-0.05	0.00	40.00	0.05	0.00	0.19	15.85	90	59
87413	38.20	41.40	39.30	41.34	-0.03	0.03	40.00	0.00	0.00	-0.04	1.13	76	73
87463	39.30	40.00	38.40	39.48	0.09	-0.01	40.00	-0.08	0.00	-0.08	-27.83	47	102
87513	39.30	40.60	38.40	40.07	0.09	0.00	40.00	-0.09	0.00	-0.01	-31.98	43	106
87563	38.50	40.10	38.90	40.00	-0.04	-0.00	40.00	0.04	0.00	0.13	14.03	89	60
87613	38.00	40.30	38.30	40.24	-0.03	0.00	40.00	0.03	0.00	-0.01	8.81	83	66
87663	38.50	40.50	38.60	40.49	-0.01	0.01	40.00	0.00	0.00	-0.03	0.05	75	74
87713	36.90	39.30	37.70	38.89	-0.08	-0.02	40.00	0.10	0.00	0.10	35.75	110	39
87763	38.10	38.60	38.30	38.57	-0.02	-0.03	40.00	0.05	0.00	-0.05	16.98	91	58
87813	37.40	38.80	37.50	38.79	-0.01	-0.02	40.00	0.03	0.00	-0.01	11.94	86	63
87863	36.80	37.70	36.50	37.68	0.02	-0.05	40.00	0.03	0.00	-0.01	9.27	84	65
87913	36.50	38.10	36.60	38.09	-0.01	-0.04	40.00	0.05	0.00	0.02	16.84	91	58
87963	36.30	38.10	36.40	38.09	-0.01	-0.04	40.00	0.05	0.00	0.00	16.84	91	58
88013	36.30	37.50	35.80	37.35	0.05	-0.05	40.00	0.00	0.00	-0.05	1.07	76	73
88063	36.10	38.60	35.80	38.54	0.03	-0.03	40.00	-0.00	0.00	-0.00	-0.30	74	75
88113	36.30	36.90	36.30	36.90	0.00	-0.06	40.00	0.06	0.00	0.06	21.70	96	53
88163	35.90	37.20	36.30	37.10	-0.04	-0.06	40.00	0.10	0.00	0.04	34.28	109	40
88213	36.00	36.90	35.50	36.75	0.05	-0.07	40.00	0.02	0.00	-0.08	5.25	80	69
88263	35.90	37.60	35.80	37.59	0.01	-0.05	40.00	0.04	0.00	0.02	13.34	88	61
88313	35.90	37.30	35.30	37.08	0.06	-0.06	40.00	-0.00	0.00	-0.04	-0.57	74	75
88363	35.50	36.80	35.40	36.79	0.01	-0.06	40.00	0.05	0.00	0.06	18.94	93	56
88413	35.70	36.50	34.80	36.02	0.09	-0.08	40.00	-0.01	0.00	-0.06	-3.65	71	78
88463	35.90	36.90	35.10	36.52	0.08	-0.07	40.00	-0.01	0.00	0.00	-3.62	71	78
88513	35.20	36.60	34.80	36.50	0.04	-0.07	40.00	0.03	0.00	0.04	10.47	85	64
88563	35.90	36.50	35.50	36.40	0.04	-0.07	40.00	0.03	0.00	0.00	11.17	86	63
88613	35.00	36.70	34.80	36.68	0.02	-0.07	40.00	0.05	0.00	0.01	16.27	91	58
88663	35.60	37.10	35.10	36.95	0.05	-0.06	40.00	0.01	0.00	-0.04	3.86	78	71
88713	36.00	36.90	35.40	36.68	0.06	-0.07	40.00	0.01	0.00	-0.00	2.21	77	72
88763	35.70	37.30	35.80	37.29	-0.01	-0.05	40.00	0.06	0.00	0.06	22.44	97	52
88813	35.50	37.40	35.10	37.30	0.04	-0.05	40.00	0.01	0.00	-0.05	4.88	79	70
88863	36.10	37.50	35.60	37.35	0.05	-0.05	40.00	0.00	0.00	-0.01	1.07	76	73
88913	36.10	37.80	35.80	37.74	0.03	-0.05	40.00	0.02	0.00	0.01	5.29	80	69
88963	36.50	37.30	35.70	36.70	0.10	-0.07	40.00	-0.03	0.00	-0.05	-11.89	63	86
89013	36.00	38.20	36.70	37.90	-0.07	-0.04	40.00	0.11	0.00	0.15	39.23	114	35
89063	37.30	38.40	36.20	37.65	0.11	-0.05	40.00	-0.06	0.00	-0.18	-22.07	52	97
89113	38.00	38.80	37.10	38.29	0.09	-0.03	40.00	-0.06	0.00	0.01	-19.54	55	94
89163	37.40	39.60	37.10	39.54	0.03	-0.01	40.00	-0.02	0.00	0.04	-7.29	67	82
89213	37.40	39.80	37.20	39.77	0.02	-0.00	40.00	-0.02	0.00	0.01	-5.42	69	80
89263	37.70	39.60	37.80	39.59	-0.01	-0.01	40.00	0.02	0.00	0.03	6.35	81	68
89313	39.00	40.70	37.80	39.76	0.12	-0.00	40.00	-0.12	0.00	-0.13	-40.32	34	115
89363	38.40	40.20	37.70	39.88	0.07	-0.00	40.00	-0.07	0.00	0.05	-23.66	51	98
89413	38.10	40.80	37.60	40.63	0.05	0.01	40.00	-0.06	0.00	0.00	-21.94	53	96
89463	39.40	41.10	38.30	40.30	0.11	0.01	40.00	-0.12	0.00	-0.05	-40.60	34	115
89513	39.60	41.50	38.40	40.54	0.12	0.01	40.00	-0.13	0.00	-0.01	-45.79	29	120
89563	40.20	41.90	38.00	38.78	0.22	-0.02	40.00	-0.20	0.00	-0.06	-68.43	6	127
89613	39.30	41.40	38.80	41.23	0.05	0.02	40.00	-0.07	0.00	0.12	-26.12	48	101
89663	40.00	42.10	38.80	41.13	0.12	0.02	40.00	-0.14	0.00	-0.07	-49.89	25	124
89713	39.60	41.30	39.60	41.30	0.00	0.03	40.00	-0.03	0.00	0.12	-9.10	65	84
89763	39.60	41.80	39.60	41.80	0.00	0.04	40.00	-0.04	0.00	-0.01	-12.60	62	87
89813	39.80	41.10	38.80	40.44	0.10	0.01	40.00	-0.11	0.00	-0.07	-38.06	36	113
89863	39.40	41.50	39.60	41.47	-0.02	0.03	40.00	-0.01	0.00	0.10	-3.31	71	78
89913	39.30	40.80	39.90	40.56	-0.06	0.01	40.00	0.05	0.00	0.06	17.07	92	57
89963	39.40	41.30	39.20	41.27	0.02	0.03	40.00	-0.05	0.00	-0.09	-15.91	59	90
90013	38.90	40.70	39.60	40.38	-0.07	0.01	40.00	0.06	0.00	0.11	21.87	96	53
90063	38.20	40.60	39.00	40.18	-0.08	0.00	40.00	0.08	0.00	0.01	26.75	101	48
90113	38.90	40.00	38.90	40.00	0.00	0.00	40.00	0.00	0.00	-0.08	0.00	75	75
90163	37.00	39.50	37.70	39.19	-0.07	-0.02	40.00	0.09	0.00	0.09	30.20	105	44
90213	36.40	38.40	37.70	37.36	-0.13	-0.05	40.00	0.18	0.00	0.10	63.97	127	11
90263	36.10	38.50	37.50	37.30	-0.14	-0.05	40.00	0.19	0.00	0.01	67.92	127	7
90313	36.30	37.80	36.10	37.78	0.02	-0.04	40.00	0.02	0.00	-0.17	8.57	83	66
90363	35.90	36.60	36.00	36.59	-0.01	-0.07	40.00	0.08	0.00	0.05	27.34	102	47
90413	35.00	36.50	34.90	36.49	0.01	-0.07	40.00	0.06	0.00	-0.02	21.04	96	53
90463	34.70	35.30	34.40	35.25	0.03	-0.10	40.00	0.07	0.00	0.00	22.76	97	52
90513	33.80	35.50	34.00	35.48	-0.02	-0.09	40.00	0.11	0.00	0.05	38.66	113	36
90563	34.00	35.80	33.90	35.79	0.01	-0.08	40.00	0.07	0.00	-0.04	25.94	100	49
90613	33.90	34.80	34.10	34.78	-0.02	-0.10	40.00	0.12	0.00	0.05	43.56	118	31
90663	34.00	34.10	33.20	33.75	0.08	-0.13	40.00	0.05	0.00	-0.08	15.78	90	59
90713	33.90	34.30	33.10	33.94	0.08	-0.12	40.00	0.04	0.00	-0.00	14.39	89	60
90763	33.70	33.80	33.40	33.75	0.03	-0.12	40.00	0.09	0.00	0.05	33.25	108	41
90813	33.80	33.60	33.00	33.25	0.08	-0.13	40.00	0.05	0.00	-0.04	19.24	94	55
90863	33.00	33.90	33.20	33.88	-0.02	-0.12	40.00	0.14	0.00	0.09	49.85	124	25
90913	33.50	33.90	32.50	33.35	0.10	-0.13	40.00	0.03	0.00	-0.11	11.53	86	63

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151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

Front Center Rear Steer

26.90 29.20 26.30 0.06

26.60 28.60 25.80 0.12

26.90 28.30 25.80 0.11

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00 0.00 0.00

Msec LF LC LR Steer Deg Cos LCCorr Set Err SpinDeg

WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd

83213 27.70 27.60 26.30 26.74 0.14 -0.27 40.00 0.13 0.00 0.13 43.84 118 31

83263 27.70 27.40 27.20 27.29 0.05 -0.25 40.00 0.20 0.00 0.08 71.48 127 3

83313 27.80 27.50 26.70 26.96 0.11 -0.26 40.00 0.15 0.00 -0.05 52.75 127 22

83363 28.20 27.00 26.30 25.48 0.19 -0.29 40.00 0.10 0.00 -0.05 35.17 110 39

83413 28.20 27.80 26.30 26.23 0.19 -0.28 40.00 0.09 0.00 -0.02 29.88 104 45

83463 28.90 28.10 26.40 25.44 0.25 -0.29 40.00 0.04 0.00 -0.04 14.44 89 60

83513 29.80 29.60 27.10 26.37 0.27 -0.27 40.00 0.00 0.00 -0.04 0.93 75 74

83563 30.00 30.40 28.30 29.01 0.17 -0.22 40.00 0.05 0.00 0.05 17.40 92 57

83613 31.00 31.50 29.00 29.54 0.20 -0.21 40.00 0.01 0.00 -0.04 3.22 78 71

83663 31.90 31.30 30.10 29.71 0.18 -0.21 40.00 0.03 0.00 0.02 9.05 84 65

83713 32.70 31.40 29.40 26.48 0.33 -0.27 40.00 -0.06 0.00 -0.09 -20.83 54 95

83763 32.70 33.90 30.80 31.99 0.19 -0.16 40.00 -0.03 0.00 0.03 -10.41 64 85

83813 33.90 34.80 30.70 29.63 0.32 -0.21 40.00 -0.11 0.00 -0.08 -39.42 35 114

83863 34.50 35.20 31.70 31.09 0.28 -0.18 40.00 -0.10 0.00 0.01 -35.63 39 110

83913 34.40 35.40 32.50 33.40 0.19 -0.13 40.00 -0.06 0.00 0.04 -20.32 54 95

83963 35.20 35.70 33.30 33.69 0.19 -0.13 40.00 -0.06 0.00 -0.01 -22.30 52 97

84013 35.60 36.60 33.20 33.39 0.24 -0.13 40.00 -0.11 0.00 -0.04 -37.70 37 112

84063 35.90 36.70 33.70 33.96 0.22 -0.12 40.00 -0.10 0.00 0.01 -34.74 40 109

84113 36.50 37.50 34.60 36.77 0.11 -0.06 40.00 -0.05 0.00 0.05 -15.89 59 90

84163 37.00 38.40 34.40 34.49 0.26 -0.11 40.00 -0.15 0.00 -0.10 -52.41 22 127

84213 36.50 38.00 35.30 37.12 0.12 -0.06 40.00 -0.06 0.00 0.09 -21.85 53 96

84263 36.30 37.90 35.40 37.40 0.09 -0.05 40.00 -0.04 0.00 0.02 -13.33 61 88

84313 36.80 37.30 35.40 36.13 0.14 -0.08 40.00 -0.06 0.00 -0.02 -21.94 53 96

84363 36.60 37.70 35.50 36.97 0.11 -0.06 40.00 -0.05 0.00 0.01 -17.26 57 92

84413 36.50 37.90 35.80 37.60 0.07 -0.05 40.00 -0.02 0.00 0.03 -7.69 67 82

84463 36.30 38.50 35.40 38.00 0.09 -0.04 40.00 -0.05 0.00 -0.03 -17.47 57 92

84513 36.70 38.20 36.20 38.04 0.05 -0.04 40.00 -0.01 0.00 0.04 -3.81 71 78

84563 37.10 37.80 35.90 36.93 0.12 -0.06 40.00 -0.06 0.00 -0.05 -20.49 54 95

84613 36.50 38.20 35.80 37.90 0.07 -0.04 40.00 -0.03 0.00 0.03 -9.77 65 84

84663 37.50 38.00 36.00 36.64 0.15 -0.07 40.00 -0.08 0.00 -0.05 -28.99 46 103

84713 37.00 37.60 35.70 36.58 0.13 -0.07 40.00 -0.06 0.00 0.02 -21.59 53 96

84763 37.00 37.50 36.80 37.48 0.02 -0.05 40.00 0.03 0.00 0.09 10.67 85 64

84813 36.70 37.00 36.30 36.90 0.04 -0.06 40.00 0.02 0.00 -0.01 7.68 82 67

84863 36.40 37.80 36.00 37.70 0.04 -0.05 40.00 0.01 0.00 -0.02 2.09 77 72

84913 36.90 38.20 35.80 37.46 0.11 -0.05 40.00 -0.06 0.00 -0.07 -20.69 54 95

84963 36.20 38.40 36.30 38.39 -0.01 -0.03 40.00 0.04 0.00 0.10 14.74 89 60

85013 36.30 37.40 35.40 36.91 0.09 -0.06 40.00 -0.03 0.00 -0.07 -9.87 65 84

85063 35.90 37.60 35.10 37.21 0.08 -0.06 40.00 -0.02 0.00 0.00 -8.47 66 83

85113 35.40 37.30 35.50 37.29 -0.01 -0.05 40.00 0.06 0.00 0.09 22.44 97 52

85163 36.00 37.00 35.10 36.52 0.09 -0.07 40.00 -0.02 0.00 -0.08 -7.11 67 82

85213 36.10 38.10 35.10 37.49 0.10 -0.05 40.00 -0.05 0.00 -0.03 -17.40 57 92

85263 35.20 37.10 35.60 37.00 -0.04 -0.06 40.00 0.10 0.00 0.15 34.98 109 40

85313 36.10 37.10 35.80 37.05 0.03 -0.06 40.00 0.03 0.00 -0.07 10.18 85 64

85363 35.20 36.50 34.80 36.40 0.04 -0.07 40.00 0.03 0.00 0.00 11.17 86 63

85413 34.70 35.70 34.70 35.70 0.00 -0.09 40.00 0.09 0.00 0.05 30.10 105 44

85463 34.30 36.30 34.60 36.25 -0.03 -0.08 40.00 0.11 0.00 0.02 36.77 111 38

85513 34.70 35.60 34.40 35.55 0.03 -0.09 40.00 0.06 0.00 -0.05 20.67 95 54

85563 34.40 35.20 33.80 34.99 0.06 -0.10 40.00 0.04 0.00 -0.02 14.04 89 60

85613 34.10 34.70 33.90 34.68 0.02 -0.11 40.00 0.09 0.00 0.05 30.26 105 44

85663 34.20 34.90 34.10 34.89 0.01 -0.10 40.00 0.09 0.00 0.01 32.24 107 42

85713 33.90 34.90 33.40 34.76 0.05 -0.10 40.00 0.05 0.00 -0.04 19.19 94 55

85763 33.50 35.00 33.50 35.00 0.00 -0.10 40.00 0.10 0.00 0.05 35.00 110 40

85813 34.20 34.80 33.60 34.60 0.06 -0.11 40.00 0.05 0.00 -0.05 16.83 91 58

85863 34.00 35.30 32.50 34.04 0.15 -0.12 40.00 -0.03 0.00 -0.08 -10.77 64 85

85913 34.10 34.80 33.40 34.52 0.07 -0.11 40.00 0.04 0.00 0.07 13.84 88 61

85963 33.70 35.40 33.50 35.38 0.02 -0.09 40.00 0.07 0.00 0.03 25.36 100 49

86013 35.30 36.00 33.00 33.08 0.23 -0.14 40.00 -0.09 0.00 -0.16 -32.07 42 107

86063 34.40 34.90 33.60 34.54 0.08 -0.11 40.00 0.03 0.00 0.12 10.23 85 64

86113 34.80 35.50 33.60 34.68 0.12 -0.11 40.00 -0.01 0.00 -0.04 -4.76 70 79

86163 35.20 35.60 34.20 35.39 0.06 -0.09 40.00 0.03 0.00 0.05 11.26 86 63

86213 34.80 36.00 34.00 35.63 0.08 -0.09 40.00 0.01 0.00 -0.02 2.61 77 72

86263 34.10 36.30 34.00 36.29 0.01 -0.07 40.00 0.06 0.00 0.06 22.44 97 52

86313 35.00 35.90 34.60 35.81 0.04 -0.08 40.00 0.04 0.00 -0.02 15.36 90 59

86363 36.10 36.20 34.10 33.95 0.20 -0.12 40.00 -0.08 0.00 -0.12 -27.63 47 102

86413 35.50 36.70 35.60 36.69 -0.01 -0.07 40.00 0.08 0.00 0.16 26.64 101 48

86463 36.70 36.90 35.20 35.58 0.15 -0.09 40.00 -0.06 0.00 -0.14 -21.57 53 96

86513 36.10 37.30 34.90 36.44 0.12 -0.07 40.00 -0.05 0.00 0.01 -17.07 57 92

86563 36.90 37.60 35.20 35.89 0.17 -0.08 40.00 -0.09 0.00 -0.04 -30.71 44 105

86613 36.20 37.70 35.80 37.60 0.04 -0.05 40.00 0.01 0.00 0.10 2.79 77 72

86663 36.40 37.50 35.80 37.48 0.02 -0.05 40.00 0.03 0.00 0.02 10.67 85 64

86713 36.90 37.80 36.50 37.79 -0.01 -0.04 40.00 0.05 0.00 0.02 18.94 93 56

86763 36.50 38.20 36.00 38.04 0.05 -0.04 40.00 -0.01 0.00 -0.07 -3.81 71 78

86813 36.80 38.60 36.70 38.59 0.01 -0.03 40.00 0.02 0.00 0.03 6.34 81 68

86863 37.00 39.60 36.80 39.57 0.02 -0.01 40.00 -0.01 0.00 -0.03 -4.02 70 79

86913 37.00 39.30 37.00 39.30 0.00 -0.01 40.00 0.01 0.00 0.03 4.90 79 70

86963 38.00 38.70 37.40 38.47 0.06 -0.03 40.00 -0.03 0.00 -0.04 -10.31 64 85

87013 38.00 39.20 37.10 38.69 0.09 -0.03 40.00 -0.06 0.00 -0.03 -22.31 52 97

87063 38.00 40.10 37.70 40.09 -0.01 0.00 40.00 0.01 0.00 0.07 2.85 77 72

87113 38.30 40.40 37.20 39.47 0.12 -0.01 40.00 -0.11 0.00 -0.12 -38.27 36 113

87163 38.10 40.00 37.10 39.35 0.10 -0.01 40.00 -0.09 0.00 0.02 -30.48 44 105

87213 38.20 40.50 38.50 40.44 -0.03 0.01 40.00 0.02 0.00 0.11 7.42 82 67

87263 39.00 40.70 37.70 39.60 0.13 -0.01 40.00 -0.12 0.00 -0.14 -42.70 32 117

87313 39.70 40.40 37.90 38.34 0.18 -0.03 40.00 -0.15 0.00 -0.02 -51.41 23 126

87363 38.50 40.40 38.60 40.24 -0.05 0.00 40.00 0.05 0.00 0.19 15.85 90 59

87413 38.20 41.40 39.30 41.34 -0.03 0.03 40.00 0.00 0.00 -0.04 1.13 76 73

87463 39.30 40.00 38.40 39.48 0.09 -0.01 40.00 -0.08 0.00 -0.08 -27.83 47 102

87513 39.30 40.60 38.40 40.07 0.09 0.00 40.00 -0.09 0.00 -0.01 -31.98 43 106

87563 38.50 40.10 38.90 40.00 -0.04 -0.00 40.00 0.04 0.00 0.13 14.03 89 60

87613 38.00 40.30 38.30 40.24 -0.03 0.00 40.00 0.03 0.00 -0.01 8.81 83 66

87663 38.50 40.50 38.60 40.49 -0.01 0.01 40.00 0.00 0.00 -0.03 0.05 75 74

87713 36.90 39.30 37.70 38.89 -0.08 -0.02 40.00 0.10 0.00 0.10 35.75 110 39

87763 38.10 38.60 38.30 38.57 -0.02 -0.03 40.00 0.05 0.00 -0.05 16.98 91 58

87813 37.40 38.80 37.50 38.79 -0.01 -0.02 40.00 0.03 0.00 -0.01 11.94 86 63

87863 36.80 37.70 36.50 37.68 0.02 -0.05 40.00 0.03 0.00 -0.01 9.27 84 65

87913 36.50 38.10 36.60 38.09 -0.01 -0.04 40.00 0.05 0.00 0.02 16.84 91 58

87963 36.30 38.10 36.40 38.09 -0.01 -0.04 40.00 0.05 0.00 0.00 16.84 91 58

88013 36.30 37.50 35.80 37.35 0.05 -0.05 40.00 0.00 0.00 -0.05 1.07 76 73

88063 36.10 38.60 35.80 38.54 0.03 -0.03 40.00 -0.00 0.00 -0.00 -0.30 74 75

88113 36.30 36.90 36.30 36.90 0.00 -0.06 40.00 0.06 0.00 0.06 21.70 96 53

88163 35.90 37.20 36.30 37.10 -0.04 -0.06 40.00 0.10 0.00 0.04 34.28 109 40

88213 36.00 36.90 35.50 36.75 0.05 -0.07 40.00 0.02 0.00 -0.08 5.25 80 69

88263 35.90 37.60 35.80 37.59 0.01 -0.05 40.00 0.04 0.00 0.02 13.34 88 61

88313 35.90 37.30 35.30 37.08 0.06 -0.06 40.00 -0.00 0.00 -0.04 -0.57 74 75

88363 35.50 36.80 35.40 36.79 0.01 -0.06 40.00 0.05 0.00 0.06 18.94 93 56

88413 35.70 36.50 34.80 36.02 0.09 -0.08 40.00 -0.01 0.00 -0.06 -3.65 71 78

88463 35.90 36.90 35.10 36.52 0.08 -0.07 40.00 -0.01 0.00 0.00 -3.62 71 78

88513 35.20 36.60 34.80 36.50 0.04 -0.07 40.00 0.03 0.00 0.04 10.47 85 64

88563 35.90 36.50 35.50 36.40 0.04 -0.07 40.00 0.03 0.00 0.00 11.17 86 63

88613 35.00 36.70 34.80 36.68 0.02 -0.07 40.00 0.05 0.00 0.01 16.27 91 58

88663 35.60 37.10 35.10 36.95 0.05 -0.06 40.00 0.01 0.00 -0.04 3.86 78 71

88713 36.00 36.90 35.40 36.68 0.06 -0.07 40.00 0.01 0.00 -0.00 2.21 77 72

88763 35.70 37.30 35.80 37.29 -0.01 -0.05 40.00 0.06 0.00 0.06 22.44 97 52

88813 35.50 37.40 35.10 37.30 0.04 -0.05 40.00 0.01 0.00 -0.05 4.88 79 70

88863 36.10 37.50 35.60 37.35 0.05 -0.05 40.00 0.00 0.00 -0.01 1.07 76 73

88913 36.10 37.80 35.80 37.74 0.03 -0.05 40.00 0.02 0.00 0.01 5.29 80 69

88963 36.50 37.30 35.70 36.70 0.10 -0.07 40.00 -0.03 0.00 -0.05 -11.89 63 86

89013 36.00 38.20 36.70 37.90 -0.07 -0.04 40.00 0.11 0.00 0.15 39.23 114 35

89063 37.30 38.40 36.20 37.65 0.11 -0.05 40.00 -0.06 0.00 -0.18 -22.07 52 97

89113 38.00 38.80 37.10 38.29 0.09 -0.03 40.00 -0.06 0.00 0.01 -19.54 55 94

89163 37.40 39.60 37.10 39.54 0.03 -0.01 40.00 -0.02 0.00 0.04 -7.29 67 82

89213 37.40 39.80 37.20 39.77 0.02 -0.00 40.00 -0.02 0.00 0.01 -5.42 69 80

89263 37.70 39.60 37.80 39.59 -0.01 -0.01 40.00 0.02 0.00 0.03 6.35 81 68

89313 39.00 40.70 37.80 39.76 0.12 -0.00 40.00 -0.12 0.00 -0.13 -40.32 34 115

89363 38.40 40.20 37.70 39.88 0.07 -0.00 40.00 -0.07 0.00 0.05 -23.66 51 98

89413 38.10 40.80 37.60 40.63 0.05 0.01 40.00 -0.06 0.00 0.00 -21.94 53 96

89463 39.40 41.10 38.30 40.30 0.11 0.01 40.00 -0.12 0.00 -0.05 -40.60 34 115

89513 39.60 41.50 38.40 40.54 0.12 0.01 40.00 -0.13 0.00 -0.01 -45.79 29 120

89563 40.20 41.90 38.00 38.78 0.22 -0.02 40.00 -0.20 0.00 -0.06 -68.43 6 127

89613 39.30 41.40 38.80 41.23 0.05 0.02 40.00 -0.07 0.00 0.12 -26.12 48 101

89663 40.00 42.10 38.80 41.13 0.12 0.02 40.00 -0.14 0.00 -0.07 -49.89 25 124

89713 39.60 41.30 39.60 41.30 0.00 0.03 40.00 -0.03 0.00 0.12 -9.10 65 84

89763 39.60 41.80 39.60 41.80 0.00 0.04 40.00 -0.04 0.00 -0.01 -12.60 62 87

89813 39.80 41.10 38.80 40.44 0.10 0.01 40.00 -0.11 0.00 -0.07 -38.06 36 113

89863 39.40 41.50 39.60 41.47 -0.02 0.03 40.00 -0.01 0.00 0.10 -3.31 71 78

89913 39.30 40.80 39.90 40.56 -0.06 0.01 40.00 0.05 0.00 0.06 17.07 92 57

89963 39.40 41.30 39.20 41.27 0.02 0.03 40.00 -0.05 0.00 -0.09 -15.91 59 90

90013 38.90 40.70 39.60 40.38 -0.07 0.01 40.00 0.06 0.00 0.11 21.87 96 53

90063 38.20 40.60 39.00 40.18 -0.08 0.00 40.00 0.08 0.00 0.01 26.75 101 48

90113 38.90 40.00 38.90 40.00 0.00 0.00 40.00 0.00 0.00 -0.08 0.00 75 75

90163 37.00 39.50 37.70 39.19 -0.07 -0.02 40.00 0.09 0.00 0.09 30.20 105 44

90213 36.40 38.40 37.70 37.36 -0.13 -0.05 40.00 0.18 0.00 0.10 63.97 127 11

90263 36.10 38.50 37.50 37.30 -0.14 -0.05 40.00 0.19 0.00 0.01 67.92 127 7

90313 36.30 37.80 36.10 37.78 0.02 -0.04 40.00 0.02 0.00 -0.17 8.57 83 66

90363 35.90 36.60 36.00 36.59 -0.01 -0.07 40.00 0.08 0.00 0.05 27.34 102 47

90413 35.00 36.50 34.90 36.49 0.01 -0.07 40.00 0.06 0.00 -0.02 21.04 96 53

90463 34.70 35.30 34.40 35.25 0.03 -0.10 40.00 0.07 0.00 0.00 22.76 97 52

90513 33.80 35.50 34.00 35.48 -0.02 -0.09 40.00 0.11 0.00 0.05 38.66 113 36

90563 34.00 35.80 33.90 35.79 0.01 -0.08 40.00 0.07 0.00 -0.04 25.94 100 49

90613 33.90 34.80 34.10 34.78 -0.02 -0.10 40.00 0.12 0.00 0.05 43.56 118 31

90663 34.00 34.10 33.20 33.75 0.08 -0.13 40.00 0.05 0.00 -0.08 15.78 90 59

90713 33.90 34.30 33.10 33.94 0.08 -0.12 40.00 0.04 0.00 -0.00 14.39 89 60

90763 33.70 33.80 33.40 33.75 0.03 -0.12 40.00 0.09 0.00 0.05 33.25 108 41

90813 33.80 33.60 33.00 33.25 0.08 -0.13 40.00 0.05 0.00 -0.04 19.24 94 55

90863 33.00 33.90 33.20 33.88 -0.02 -0.12 40.00 0.14 0.00 0.09 49.85 124 25

90913 33.50 33.90 32.50 33.35 0.10 -0.13 40.00 0.03 0.00 -0.11 11.53 86 63

As can be seen in the above plot. the robot started off at an offset of approx 27cm, and rapidly (about 1.5sec) moved to an offset of about 38cm. After that it maintained an offset of between 35 and 41cm for the rest of the run for an average of 37.5cm. This is excellent performance, and now I have to wonder just a bit if a separate ‘offset capture’ phase is really required.

Making another run with the same parameters (350,0,0) div 50 but with the robot placed more or less parallel but about 10cm from the wall:

Front	Center	Rear	Steer
15.40	15.80	16.70	-0.13

15.70	15.80	16.70	-0.10

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00	0.00	0.00
Msec	LF	LC	LR	Steer	Deg	Cos	LCCorr	Set	Err	SpinDeg
WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
19582	15.50	15.60	16.70	15.24	-0.12	-0.50	40.00	0.62	0.00	0.62	215.32	127	0
19632	15.90	15.80	16.60	15.67	-0.07	-0.49	40.00	0.56	0.00	-0.06	194.78	127	0
19682	15.90	15.80	16.90	15.55	-0.10	-0.49	40.00	0.59	0.00	0.03	206.18	127	0
19732	16.20	15.50	16.90	15.38	-0.07	-0.49	40.00	0.56	0.00	-0.03	196.86	127	0
19782	16.50	16.00	16.70	15.99	-0.02	-0.48	40.00	0.50	0.00	-0.06	175.07	127	0
19832	16.50	16.00	16.70	15.99	-0.02	-0.48	40.00	0.50	0.00	0.00	175.07	127	0
19882	17.20	16.20	16.90	16.18	0.03	-0.48	40.00	0.45	0.00	-0.05	156.27	127	0
19932	18.00	17.00	16.70	16.54	0.13	-0.47	40.00	0.34	0.00	-0.11	118.72	127	0
19982	19.80	18.40	18.00	17.46	0.18	-0.45	40.00	0.27	0.00	-0.07	94.75	127	0
20032	22.20	21.00	19.10	18.05	0.31	-0.44	40.00	0.13	0.00	-0.14	45.13	120	29
20082	25.70	24.80	20.90	17.52	0.48	-0.45	40.00	-0.03	0.00	-0.16	-10.62	64	85
20132	29.80	28.30	23.90	16.99	0.59	-0.46	40.00	-0.13	0.00	-0.10	-45.41	29	120
20182	33.80	32.80	27.50	18.44	0.63	-0.43	40.00	-0.20	0.00	-0.07	-69.56	5	127
20232	37.10	37.90	30.60	20.59	0.65	-0.39	40.00	-0.26	0.00	-0.06	-91.61	0	127
20282	37.10	37.90	30.60	20.59	0.65	-0.39	40.00	-0.26	0.00	0.00	-91.61	0	127
20332	40.00	42.20	33.10	21.35	0.69	-0.37	40.00	-0.32	0.00	-0.06	-110.95	0	127
20382	40.40	42.80	34.60	26.10	0.58	-0.28	40.00	-0.30	0.00	0.01	-105.72	0	127
20432	40.50	42.10	35.60	29.33	0.49	-0.21	40.00	-0.28	0.00	0.03	-96.83	0	127
20482	40.60	41.50	35.70	28.91	0.49	-0.22	40.00	-0.27	0.00	0.01	-93.90	0	127
20532	39.20	40.60	35.80	33.89	0.34	-0.12	40.00	-0.22	0.00	0.05	-76.23	0	127
20582	38.80	39.40	35.00	31.51	0.38	-0.17	40.00	-0.21	0.00	0.01	-73.55	1	127
20632	38.00	38.20	34.10	30.20	0.39	-0.20	40.00	-0.19	0.00	0.02	-67.93	7	127
20682	38.00	38.20	34.10	30.20	0.39	-0.20	40.00	-0.19	0.00	0.00	-67.93	7	127
20732	36.70	38.60	34.90	36.64	0.18	-0.07	40.00	-0.11	0.00	0.08	-39.45	35	114
20782	36.30	37.90	35.00	36.88	0.13	-0.06	40.00	-0.07	0.00	0.05	-23.63	51	98
20832	35.90	37.50	35.00	37.01	0.09	-0.06	40.00	-0.03	0.00	0.04	-10.56	64	85
20882	35.20	37.60	35.30	37.59	-0.01	-0.05	40.00	0.06	0.00	0.09	20.34	95	54
20932	36.40	38.10	35.30	37.36	0.11	-0.05	40.00	-0.06	0.00	-0.12	-20.01	54	95
20982	36.50	37.20	35.80	36.90	0.07	-0.06	40.00	-0.01	0.00	0.05	-2.83	72	77
21032	36.00	37.60	36.10	37.59	-0.01	-0.05	40.00	0.06	0.00	0.07	20.34	95	54
21082	35.80	37.00	35.70	36.99	0.01	-0.06	40.00	0.05	0.00	-0.01	17.54	92	57
21132	35.80	37.00	35.70	36.99	0.01	-0.06	40.00	0.05	0.00	0.00	17.54	92	57
21182	34.90	37.10	34.90	37.10	0.00	-0.06	40.00	0.06	0.00	0.01	20.30	95	54
21232	34.40	36.40	35.20	36.02	-0.08	-0.08	40.00	0.16	0.00	0.10	55.84	127	19
21282	33.90	36.00	34.60	35.71	-0.07	-0.09	40.00	0.16	0.00	-0.00	54.50	127	20
21332	33.90	35.20	34.10	35.18	-0.02	-0.10	40.00	0.12	0.00	-0.04	40.76	115	34
21382	33.50	34.50	33.50	34.50	0.00	-0.11	40.00	0.11	0.00	-0.01	38.50	113	36
21432	33.20	34.50	33.10	34.49	0.01	-0.11	40.00	0.10	0.00	-0.01	35.04	110	39
21482	33.50	34.90	32.80	34.62	0.07	-0.11	40.00	0.04	0.00	-0.06	13.14	88	61
21532	33.40	34.80	32.80	34.60	0.06	-0.11	40.00	0.05	0.00	0.01	16.83	91	58
21582	33.50	34.80	33.00	34.66	0.05	-0.11	40.00	0.06	0.00	0.01	19.89	94	55
21632	33.80	35.20	32.30	33.94	0.15	-0.12	40.00	-0.03	0.00	-0.09	-10.09	64	85
21682	32.60	34.80	33.40	34.44	-0.08	-0.11	40.00	0.19	0.00	0.22	66.93	127	8
21732	33.70	34.20	33.30	34.11	0.04	-0.12	40.00	0.08	0.00	-0.11	27.22	102	47
21782	33.70	35.00	33.10	34.80	0.06	-0.10	40.00	0.04	0.00	-0.03	15.43	90	59
21832	34.40	35.90	33.40	35.32	0.10	-0.09	40.00	-0.01	0.00	-0.05	-2.25	72	77
21882	35.10	36.80	33.80	35.81	0.13	-0.08	40.00	-0.05	0.00	-0.04	-16.14	58	91
21932	36.60	37.00	33.90	32.96	0.27	-0.14	40.00	-0.13	0.00	-0.08	-45.21	29	120
21982	35.90	38.40	34.30	36.84	0.16	-0.06	40.00	-0.10	0.00	0.03	-33.91	41	108
22032	37.00	38.60	35.50	37.22	0.15	-0.06	40.00	-0.09	0.00	0.00	-33.04	41	108
22082	37.00	38.80	35.80	37.90	0.12	-0.04	40.00	-0.08	0.00	0.02	-27.33	47	102
22132	36.60	38.60	36.10	38.44	0.05	-0.03	40.00	-0.02	0.00	0.06	-6.60	68	81
22182	36.20	39.20	36.40	39.20	0.00	-0.02	40.00	0.02	0.00	0.03	5.60	80	69
22232	36.70	39.20	36.50	39.17	0.02	-0.02	40.00	-0.00	0.00	-0.02	-1.22	73	76
22282	36.50	38.50	36.50	38.50	0.00	-0.03	40.00	0.03	0.00	0.03	10.50	85	64
22332	36.60	38.50	36.70	38.49	-0.01	-0.03	40.00	0.04	0.00	0.01	14.04	89	60
22382	35.90	38.40	36.50	38.18	-0.06	-0.04	40.00	0.10	0.00	0.06	33.77	108	41
22432	36.00	38.60	36.60	38.37	-0.06	-0.03	40.00	0.09	0.00	-0.00	32.38	107	42
22482	36.70	38.10	36.00	37.80	0.07	-0.04	40.00	-0.03	0.00	-0.12	-9.08	65	84
22532	37.00	37.80	36.50	37.65	0.05	-0.05	40.00	-0.00	0.00	0.02	-1.02	73	76
22582	36.00	38.50	36.50	38.34	-0.05	-0.03	40.00	0.08	0.00	0.09	29.10	104	45
22632	36.80	38.70	36.30	38.54	0.05	-0.03	40.00	-0.02	0.00	-0.10	-7.30	67	82
22682	36.60	38.10	37.10	37.94	-0.05	-0.04	40.00	0.09	0.00	0.11	31.89	106	43
22732	36.70	38.70	36.60	38.69	0.01	-0.03	40.00	0.02	0.00	-0.07	5.64	80	69
22782	36.60	38.20	36.70	38.19	-0.01	-0.04	40.00	0.05	0.00	0.03	16.14	91	58
22832	36.70	38.50	36.50	38.47	0.02	-0.03	40.00	0.01	0.00	-0.04	3.68	78	71
22882	37.10	39.10	37.30	39.07	-0.02	-0.02	40.00	0.04	0.00	0.03	13.48	88	61
22932	37.10	38.30	36.60	38.14	0.05	-0.04	40.00	-0.01	0.00	-0.05	-4.51	70	79
22982	37.20	38.80	36.70	38.64	0.05	-0.03	40.00	-0.02	0.00	-0.01	-7.99	67	82
23032	36.80	38.70	36.90	38.69	-0.01	-0.03	40.00	0.04	0.00	0.06	12.64	87	62
23082	36.90	39.30	37.20	39.24	-0.03	-0.02	40.00	0.05	0.00	0.01	15.80	90	59
23132	37.60	39.60	37.10	39.57	-0.02	-0.01	40.00	0.03	0.00	-0.02	9.98	84	65
23182	37.40	39.90	37.00	39.80	0.04	-0.00	40.00	-0.04	0.00	-0.06	-12.57	62	87
23232	37.30	39.60	37.10	39.57	0.02	-0.01	40.00	-0.01	0.00	0.02	-4.02	70	79
23282	37.80	40.10	37.40	40.00	0.04	-0.00	40.00	-0.04	0.00	-0.03	-13.97	61	88
23332	38.40	39.50	37.60	39.09	0.08	-0.02	40.00	-0.06	0.00	-0.02	-21.63	53	96
23382	38.10	40.50	37.70	40.39	0.04	0.01	40.00	-0.05	0.00	0.01	-16.76	58	91
23432	38.20	40.60	38.20	40.60	0.00	0.01	40.00	-0.01	0.00	0.04	-4.20	70	79
23482	37.70	40.10	37.50	40.07	0.02	0.00	40.00	-0.02	0.00	-0.01	-7.52	67	82
23532	37.90	40.60	37.90	40.60	0.00	0.01	40.00	-0.01	0.00	0.01	-4.20	70	79
23582	38.10	40.30	38.20	40.29	-0.01	0.01	40.00	0.00	0.00	0.02	1.45	76	73
23632	38.70	40.40	38.30	40.29	0.04	0.01	40.00	-0.05	0.00	-0.05	-16.06	58	91
23682	38.80	40.40	38.30	40.24	0.05	0.00	40.00	-0.05	0.00	-0.01	-19.15	55	94
23732	38.20	40.60	37.90	40.54	0.03	0.01	40.00	-0.04	0.00	0.01	-14.28	60	89
23782	38.70	40.60	38.50	40.57	0.02	0.01	40.00	-0.03	0.00	0.01	-11.01	63	86
23832	38.20	41.30	38.80	41.06	-0.06	0.02	40.00	0.04	0.00	0.07	13.59	88	61
23882	38.80	40.70	38.40	40.59	0.04	0.01	40.00	-0.05	0.00	-0.09	-18.16	56	93
23932	38.50	40.90	39.10	40.66	-0.06	0.01	40.00	0.05	0.00	0.10	16.38	91	58
23982	38.60	41.20	38.60	41.20	0.00	0.02	40.00	-0.02	0.00	-0.07	-8.40	66	83
24032	38.30	41.20	38.30	41.20	0.00	0.02	40.00	-0.02	0.00	0.00	-8.40	66	83
24082	38.50	40.70	38.70	40.67	-0.02	0.01	40.00	0.01	0.00	0.03	2.29	77	72
24132	38.90	40.40	38.40	40.24	0.05	0.00	40.00	-0.05	0.00	-0.06	-19.15	55	94
24182	38.30	41.20	38.10	41.17	0.02	0.02	40.00	-0.04	0.00	0.01	-15.21	59	90
24232	39.20	41.60	39.10	41.59	0.01	0.03	40.00	-0.04	0.00	0.00	-14.65	60	89
24282	39.40	41.60	38.30	40.79	0.11	0.02	40.00	-0.13	0.00	-0.08	-44.03	30	119
24332	39.20	41.10	39.20	41.10	0.00	0.02	40.00	-0.02	0.00	0.10	-7.70	67	82
24382	39.10	41.50	39.30	41.47	-0.02	0.03	40.00	-0.01	0.00	0.01	-3.31	71	78
24432	39.10	40.90	38.90	40.87	0.02	0.02	40.00	-0.04	0.00	-0.03	-13.11	61	88
24482	39.70	41.00	39.20	40.83	0.05	0.02	40.00	-0.07	0.00	-0.03	-23.33	51	98
24532	39.20	41.30	39.00	41.27	0.02	0.03	40.00	-0.05	0.00	0.02	-15.91	59	90
24582	39.20	41.30	39.20	41.30	0.00	0.03	40.00	-0.03	0.00	0.02	-9.10	65	84
24632	39.20	41.30	38.90	41.24	0.03	0.02	40.00	-0.05	0.00	-0.03	-19.18	55	94
24682	40.00	41.30	38.90	41.24	0.03	0.02	40.00	-0.05	0.00	0.00	-19.18	55	94
24732	40.00	41.10	38.80	40.15	0.12	0.00	40.00	-0.12	0.00	-0.07	-43.05	31	118
24782	38.60	41.00	39.30	40.67	-0.07	0.01	40.00	0.06	0.00	0.18	19.78	94	55
24832	39.10	41.10	38.80	41.04	0.03	0.02	40.00	-0.05	0.00	-0.11	-17.78	57	92
24882	38.40	40.60	38.80	40.49	-0.04	0.01	40.00	0.03	0.00	0.08	10.54	85	64
24932	38.00	40.40	38.50	40.24	-0.05	0.00	40.00	0.05	0.00	0.02	15.85	90	59
24982	38.10	39.90	38.40	39.84	-0.03	-0.00	40.00	0.03	0.00	-0.01	11.61	86	63
25032	38.30	40.20	38.50	40.17	-0.02	0.00	40.00	0.02	0.00	-0.02	5.78	80	69
25082	37.90	40.20	38.30	40.10	-0.04	0.00	40.00	0.04	0.00	0.02	13.33	88	61
25132	37.60	40.00	38.20	39.77	-0.06	-0.00	40.00	0.06	0.00	0.03	22.64	97	52
25182	37.50	39.40	38.00	39.24	-0.05	-0.02	40.00	0.07	0.00	0.00	22.82	97	52
25232	37.40	39.00	37.60	38.97	-0.02	-0.02	40.00	0.04	0.00	-0.02	14.18	89	60
25282	37.20	38.90	37.70	38.74	-0.05	-0.03	40.00	0.08	0.00	0.03	26.31	101	48
25332	37.20	38.90	37.70	38.74	-0.05	-0.03	40.00	0.08	0.00	0.00	26.31	101	48
25382	37.80	39.40	37.90	39.39	-0.01	-0.01	40.00	0.02	0.00	-0.05	7.75	82	67
25432	37.10	39.50	37.10	39.50	0.00	-0.01	40.00	0.01	0.00	-0.01	3.50	78	71
25482	37.30	39.80	37.10	39.77	0.02	-0.00	40.00	-0.02	0.00	-0.03	-5.42	69	80
25532	38.60	39.90	37.60	39.26	0.10	-0.01	40.00	-0.09	0.00	-0.07	-29.79	45	104
25582	37.70	39.90	37.40	39.84	0.03	-0.00	40.00	-0.03	0.00	0.06	-9.39	65	84
25632	39.30	39.80	38.00	38.72	0.13	-0.03	40.00	-0.10	0.00	-0.08	-36.57	38	111
25682	38.70	40.40	38.10	40.16	0.06	0.00	40.00	-0.06	0.00	0.04	-22.14	52	97
25732	39.20	40.70	37.90	39.60	0.13	-0.01	40.00	-0.12	0.00	-0.06	-42.70	32	117
25782	39.20	40.70	37.90	39.60	0.13	-0.01	40.00	-0.12	0.00	0.00	-42.70	32	117
25832	38.30	40.40	38.20	40.39	0.01	0.01	40.00	-0.02	0.00	0.10	-6.25	68	81
25882	39.30	40.50	38.50	40.08	0.08	0.00	40.00	-0.08	0.00	-0.06	-28.56	46	103
25932	39.30	41.60	38.80	41.43	0.05	0.03	40.00	-0.08	0.00	0.00	-27.51	47	102
25982	38.30	40.30	38.80	40.14	-0.05	0.00	40.00	0.05	0.00	0.13	16.55	91	58
26032	38.50	40.90	38.60	40.89	-0.01	0.02	40.00	-0.01	0.00	-0.06	-2.75	72	77
26082	38.30	40.60	39.00	40.28	-0.07	0.01	40.00	0.06	0.00	0.07	22.56	97	52
26132	38.40	40.90	38.20	40.87	0.02	0.02	40.00	-0.04	0.00	-0.10	-13.11	61	88
26182	38.40	40.90	38.20	40.87	0.02	0.02	40.00	-0.04	0.00	0.00	-13.11	61	88
26232	38.50	40.40	38.40	40.39	0.01	0.01	40.00	-0.02	0.00	0.02	-6.25	68	81
26282	38.00	39.50	37.70	39.44	0.03	-0.01	40.00	-0.02	0.00	-0.00	-6.59	68	81
26332	37.90	39.70	37.70	39.67	0.02	-0.01	40.00	-0.01	0.00	0.01	-4.72	70	79
26382	37.80	39.10	37.80	39.10	0.00	-0.02	40.00	0.02	0.00	0.03	6.30	81	68
26432	37.00	38.90	37.10	38.89	-0.01	-0.02	40.00	0.03	0.00	0.01	11.24	86	63
26482	36.70	39.40	37.10	39.30	-0.04	-0.01	40.00	0.05	0.00	0.02	18.92	93	56
26532	36.70	38.90	38.00	37.85	-0.13	-0.04	40.00	0.17	0.00	0.12	60.56	127	14
26582	37.20	37.90	37.10	37.89	0.01	-0.04	40.00	0.03	0.00	-0.14	11.24	86	63
26632	37.50	38.80	36.50	38.17	0.10	-0.04	40.00	-0.06	0.00	-0.10	-22.22	52	97
26682	36.90	37.70	37.10	37.68	-0.02	-0.05	40.00	0.07	0.00	0.13	23.27	98	51
26732	36.50	37.60	36.30	37.58	0.02	-0.05	40.00	0.03	0.00	-0.04	9.97	84	65
26782	36.80	37.80	36.70	37.79	0.01	-0.04	40.00	0.03	0.00	0.01	11.94	86	63
26832	36.10	37.40	36.00	37.39	0.01	-0.05	40.00	0.04	0.00	0.01	14.74	89	60
26882	36.20	37.10	36.00	37.08	0.02	-0.06	40.00	0.04	0.00	-0.00	13.47	88	61
26932	36.20	37.10	36.00	37.08	0.02	-0.06	40.00	0.04	0.00	0.00	13.47	88	61
26982	35.20	37.40	36.40	36.54	-0.12	-0.07	40.00	0.19	0.00	0.15	66.25	127	8
27032	35.10	36.90	35.90	36.52	-0.08	-0.07	40.00	0.15	0.00	-0.04	52.38	127	22
27082	35.40	35.80	35.40	35.80	0.00	-0.08	40.00	0.08	0.00	-0.07	29.40	104	45
27132	35.30	35.30	34.90	35.21	0.04	-0.10	40.00	0.06	0.00	-0.03	19.54	94	55
27182	35.40	35.70	34.90	35.55	0.05	-0.09	40.00	0.04	0.00	-0.02	13.62	88	61
27232	35.10	35.90	35.00	35.89	0.01	-0.08	40.00	0.07	0.00	0.03	25.24	100	49
27282	34.90	35.70	34.40	35.55	0.05	-0.09	40.00	0.04	0.00	-0.03	13.62	88	61
27332	35.70	36.40	34.00	34.74	0.17	-0.11	40.00	-0.06	0.00	-0.10	-22.69	52	97
27382	35.60	36.30	34.60	35.71	0.10	-0.09	40.00	-0.01	0.00	0.05	-5.00	69	80
27432	35.60	36.90	35.20	36.80	0.04	-0.06	40.00	0.02	0.00	0.04	8.37	83	66
27482	36.20	36.70	35.20	36.11	0.10	-0.08	40.00	-0.02	0.00	-0.05	-7.76	67	82
27532	36.50	37.20	35.20	36.60	0.10	-0.07	40.00	-0.03	0.00	-0.01	-11.20	63	86

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Front Center Rear Steer

15.40 15.80 16.70 -0.13

15.70 15.80 16.70 -0.10

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00 0.00 0.00

Msec LF LC LR Steer Deg Cos LCCorr Set Err SpinDeg

WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd

19582 15.50 15.60 16.70 15.24 -0.12 -0.50 40.00 0.62 0.00 0.62 215.32 127 0

19632 15.90 15.80 16.60 15.67 -0.07 -0.49 40.00 0.56 0.00 -0.06 194.78 127 0

19682 15.90 15.80 16.90 15.55 -0.10 -0.49 40.00 0.59 0.00 0.03 206.18 127 0

19732 16.20 15.50 16.90 15.38 -0.07 -0.49 40.00 0.56 0.00 -0.03 196.86 127 0

19782 16.50 16.00 16.70 15.99 -0.02 -0.48 40.00 0.50 0.00 -0.06 175.07 127 0

19832 16.50 16.00 16.70 15.99 -0.02 -0.48 40.00 0.50 0.00 0.00 175.07 127 0

19882 17.20 16.20 16.90 16.18 0.03 -0.48 40.00 0.45 0.00 -0.05 156.27 127 0

19932 18.00 17.00 16.70 16.54 0.13 -0.47 40.00 0.34 0.00 -0.11 118.72 127 0

19982 19.80 18.40 18.00 17.46 0.18 -0.45 40.00 0.27 0.00 -0.07 94.75 127 0

20032 22.20 21.00 19.10 18.05 0.31 -0.44 40.00 0.13 0.00 -0.14 45.13 120 29

20082 25.70 24.80 20.90 17.52 0.48 -0.45 40.00 -0.03 0.00 -0.16 -10.62 64 85

20132 29.80 28.30 23.90 16.99 0.59 -0.46 40.00 -0.13 0.00 -0.10 -45.41 29 120

20182 33.80 32.80 27.50 18.44 0.63 -0.43 40.00 -0.20 0.00 -0.07 -69.56 5 127

20232 37.10 37.90 30.60 20.59 0.65 -0.39 40.00 -0.26 0.00 -0.06 -91.61 0 127

20282 37.10 37.90 30.60 20.59 0.65 -0.39 40.00 -0.26 0.00 0.00 -91.61 0 127

20332 40.00 42.20 33.10 21.35 0.69 -0.37 40.00 -0.32 0.00 -0.06 -110.95 0 127

20382 40.40 42.80 34.60 26.10 0.58 -0.28 40.00 -0.30 0.00 0.01 -105.72 0 127

20432 40.50 42.10 35.60 29.33 0.49 -0.21 40.00 -0.28 0.00 0.03 -96.83 0 127

20482 40.60 41.50 35.70 28.91 0.49 -0.22 40.00 -0.27 0.00 0.01 -93.90 0 127

20532 39.20 40.60 35.80 33.89 0.34 -0.12 40.00 -0.22 0.00 0.05 -76.23 0 127

20582 38.80 39.40 35.00 31.51 0.38 -0.17 40.00 -0.21 0.00 0.01 -73.55 1 127

20632 38.00 38.20 34.10 30.20 0.39 -0.20 40.00 -0.19 0.00 0.02 -67.93 7 127

20682 38.00 38.20 34.10 30.20 0.39 -0.20 40.00 -0.19 0.00 0.00 -67.93 7 127

20732 36.70 38.60 34.90 36.64 0.18 -0.07 40.00 -0.11 0.00 0.08 -39.45 35 114

20782 36.30 37.90 35.00 36.88 0.13 -0.06 40.00 -0.07 0.00 0.05 -23.63 51 98

20832 35.90 37.50 35.00 37.01 0.09 -0.06 40.00 -0.03 0.00 0.04 -10.56 64 85

20882 35.20 37.60 35.30 37.59 -0.01 -0.05 40.00 0.06 0.00 0.09 20.34 95 54

20932 36.40 38.10 35.30 37.36 0.11 -0.05 40.00 -0.06 0.00 -0.12 -20.01 54 95

20982 36.50 37.20 35.80 36.90 0.07 -0.06 40.00 -0.01 0.00 0.05 -2.83 72 77

21032 36.00 37.60 36.10 37.59 -0.01 -0.05 40.00 0.06 0.00 0.07 20.34 95 54

21082 35.80 37.00 35.70 36.99 0.01 -0.06 40.00 0.05 0.00 -0.01 17.54 92 57

21132 35.80 37.00 35.70 36.99 0.01 -0.06 40.00 0.05 0.00 0.00 17.54 92 57

21182 34.90 37.10 34.90 37.10 0.00 -0.06 40.00 0.06 0.00 0.01 20.30 95 54

21232 34.40 36.40 35.20 36.02 -0.08 -0.08 40.00 0.16 0.00 0.10 55.84 127 19

21282 33.90 36.00 34.60 35.71 -0.07 -0.09 40.00 0.16 0.00 -0.00 54.50 127 20

21332 33.90 35.20 34.10 35.18 -0.02 -0.10 40.00 0.12 0.00 -0.04 40.76 115 34

21382 33.50 34.50 33.50 34.50 0.00 -0.11 40.00 0.11 0.00 -0.01 38.50 113 36

21432 33.20 34.50 33.10 34.49 0.01 -0.11 40.00 0.10 0.00 -0.01 35.04 110 39

21482 33.50 34.90 32.80 34.62 0.07 -0.11 40.00 0.04 0.00 -0.06 13.14 88 61

21532 33.40 34.80 32.80 34.60 0.06 -0.11 40.00 0.05 0.00 0.01 16.83 91 58

21582 33.50 34.80 33.00 34.66 0.05 -0.11 40.00 0.06 0.00 0.01 19.89 94 55

21632 33.80 35.20 32.30 33.94 0.15 -0.12 40.00 -0.03 0.00 -0.09 -10.09 64 85

21682 32.60 34.80 33.40 34.44 -0.08 -0.11 40.00 0.19 0.00 0.22 66.93 127 8

21732 33.70 34.20 33.30 34.11 0.04 -0.12 40.00 0.08 0.00 -0.11 27.22 102 47

21782 33.70 35.00 33.10 34.80 0.06 -0.10 40.00 0.04 0.00 -0.03 15.43 90 59

21832 34.40 35.90 33.40 35.32 0.10 -0.09 40.00 -0.01 0.00 -0.05 -2.25 72 77

21882 35.10 36.80 33.80 35.81 0.13 -0.08 40.00 -0.05 0.00 -0.04 -16.14 58 91

21932 36.60 37.00 33.90 32.96 0.27 -0.14 40.00 -0.13 0.00 -0.08 -45.21 29 120

21982 35.90 38.40 34.30 36.84 0.16 -0.06 40.00 -0.10 0.00 0.03 -33.91 41 108

22032 37.00 38.60 35.50 37.22 0.15 -0.06 40.00 -0.09 0.00 0.00 -33.04 41 108

22082 37.00 38.80 35.80 37.90 0.12 -0.04 40.00 -0.08 0.00 0.02 -27.33 47 102

22132 36.60 38.60 36.10 38.44 0.05 -0.03 40.00 -0.02 0.00 0.06 -6.60 68 81

22182 36.20 39.20 36.40 39.20 0.00 -0.02 40.00 0.02 0.00 0.03 5.60 80 69

22232 36.70 39.20 36.50 39.17 0.02 -0.02 40.00 -0.00 0.00 -0.02 -1.22 73 76

22282 36.50 38.50 36.50 38.50 0.00 -0.03 40.00 0.03 0.00 0.03 10.50 85 64

22332 36.60 38.50 36.70 38.49 -0.01 -0.03 40.00 0.04 0.00 0.01 14.04 89 60

22382 35.90 38.40 36.50 38.18 -0.06 -0.04 40.00 0.10 0.00 0.06 33.77 108 41

22432 36.00 38.60 36.60 38.37 -0.06 -0.03 40.00 0.09 0.00 -0.00 32.38 107 42

22482 36.70 38.10 36.00 37.80 0.07 -0.04 40.00 -0.03 0.00 -0.12 -9.08 65 84

22532 37.00 37.80 36.50 37.65 0.05 -0.05 40.00 -0.00 0.00 0.02 -1.02 73 76

22582 36.00 38.50 36.50 38.34 -0.05 -0.03 40.00 0.08 0.00 0.09 29.10 104 45

22632 36.80 38.70 36.30 38.54 0.05 -0.03 40.00 -0.02 0.00 -0.10 -7.30 67 82

22682 36.60 38.10 37.10 37.94 -0.05 -0.04 40.00 0.09 0.00 0.11 31.89 106 43

22732 36.70 38.70 36.60 38.69 0.01 -0.03 40.00 0.02 0.00 -0.07 5.64 80 69

22782 36.60 38.20 36.70 38.19 -0.01 -0.04 40.00 0.05 0.00 0.03 16.14 91 58

22832 36.70 38.50 36.50 38.47 0.02 -0.03 40.00 0.01 0.00 -0.04 3.68 78 71

22882 37.10 39.10 37.30 39.07 -0.02 -0.02 40.00 0.04 0.00 0.03 13.48 88 61

22932 37.10 38.30 36.60 38.14 0.05 -0.04 40.00 -0.01 0.00 -0.05 -4.51 70 79

22982 37.20 38.80 36.70 38.64 0.05 -0.03 40.00 -0.02 0.00 -0.01 -7.99 67 82

23032 36.80 38.70 36.90 38.69 -0.01 -0.03 40.00 0.04 0.00 0.06 12.64 87 62

23082 36.90 39.30 37.20 39.24 -0.03 -0.02 40.00 0.05 0.00 0.01 15.80 90 59

23132 37.60 39.60 37.10 39.57 -0.02 -0.01 40.00 0.03 0.00 -0.02 9.98 84 65

23182 37.40 39.90 37.00 39.80 0.04 -0.00 40.00 -0.04 0.00 -0.06 -12.57 62 87

23232 37.30 39.60 37.10 39.57 0.02 -0.01 40.00 -0.01 0.00 0.02 -4.02 70 79

23282 37.80 40.10 37.40 40.00 0.04 -0.00 40.00 -0.04 0.00 -0.03 -13.97 61 88

23332 38.40 39.50 37.60 39.09 0.08 -0.02 40.00 -0.06 0.00 -0.02 -21.63 53 96

23382 38.10 40.50 37.70 40.39 0.04 0.01 40.00 -0.05 0.00 0.01 -16.76 58 91

23432 38.20 40.60 38.20 40.60 0.00 0.01 40.00 -0.01 0.00 0.04 -4.20 70 79

23482 37.70 40.10 37.50 40.07 0.02 0.00 40.00 -0.02 0.00 -0.01 -7.52 67 82

23532 37.90 40.60 37.90 40.60 0.00 0.01 40.00 -0.01 0.00 0.01 -4.20 70 79

23582 38.10 40.30 38.20 40.29 -0.01 0.01 40.00 0.00 0.00 0.02 1.45 76 73

23632 38.70 40.40 38.30 40.29 0.04 0.01 40.00 -0.05 0.00 -0.05 -16.06 58 91

23682 38.80 40.40 38.30 40.24 0.05 0.00 40.00 -0.05 0.00 -0.01 -19.15 55 94

23732 38.20 40.60 37.90 40.54 0.03 0.01 40.00 -0.04 0.00 0.01 -14.28 60 89

23782 38.70 40.60 38.50 40.57 0.02 0.01 40.00 -0.03 0.00 0.01 -11.01 63 86

23832 38.20 41.30 38.80 41.06 -0.06 0.02 40.00 0.04 0.00 0.07 13.59 88 61

23882 38.80 40.70 38.40 40.59 0.04 0.01 40.00 -0.05 0.00 -0.09 -18.16 56 93

23932 38.50 40.90 39.10 40.66 -0.06 0.01 40.00 0.05 0.00 0.10 16.38 91 58

23982 38.60 41.20 38.60 41.20 0.00 0.02 40.00 -0.02 0.00 -0.07 -8.40 66 83

24032 38.30 41.20 38.30 41.20 0.00 0.02 40.00 -0.02 0.00 0.00 -8.40 66 83

24082 38.50 40.70 38.70 40.67 -0.02 0.01 40.00 0.01 0.00 0.03 2.29 77 72

24132 38.90 40.40 38.40 40.24 0.05 0.00 40.00 -0.05 0.00 -0.06 -19.15 55 94

24182 38.30 41.20 38.10 41.17 0.02 0.02 40.00 -0.04 0.00 0.01 -15.21 59 90

24232 39.20 41.60 39.10 41.59 0.01 0.03 40.00 -0.04 0.00 0.00 -14.65 60 89

24282 39.40 41.60 38.30 40.79 0.11 0.02 40.00 -0.13 0.00 -0.08 -44.03 30 119

24332 39.20 41.10 39.20 41.10 0.00 0.02 40.00 -0.02 0.00 0.10 -7.70 67 82

24382 39.10 41.50 39.30 41.47 -0.02 0.03 40.00 -0.01 0.00 0.01 -3.31 71 78

24432 39.10 40.90 38.90 40.87 0.02 0.02 40.00 -0.04 0.00 -0.03 -13.11 61 88

24482 39.70 41.00 39.20 40.83 0.05 0.02 40.00 -0.07 0.00 -0.03 -23.33 51 98

24532 39.20 41.30 39.00 41.27 0.02 0.03 40.00 -0.05 0.00 0.02 -15.91 59 90

24582 39.20 41.30 39.20 41.30 0.00 0.03 40.00 -0.03 0.00 0.02 -9.10 65 84

24632 39.20 41.30 38.90 41.24 0.03 0.02 40.00 -0.05 0.00 -0.03 -19.18 55 94

24682 40.00 41.30 38.90 41.24 0.03 0.02 40.00 -0.05 0.00 0.00 -19.18 55 94

24732 40.00 41.10 38.80 40.15 0.12 0.00 40.00 -0.12 0.00 -0.07 -43.05 31 118

24782 38.60 41.00 39.30 40.67 -0.07 0.01 40.00 0.06 0.00 0.18 19.78 94 55

24832 39.10 41.10 38.80 41.04 0.03 0.02 40.00 -0.05 0.00 -0.11 -17.78 57 92

24882 38.40 40.60 38.80 40.49 -0.04 0.01 40.00 0.03 0.00 0.08 10.54 85 64

24932 38.00 40.40 38.50 40.24 -0.05 0.00 40.00 0.05 0.00 0.02 15.85 90 59

24982 38.10 39.90 38.40 39.84 -0.03 -0.00 40.00 0.03 0.00 -0.01 11.61 86 63

25032 38.30 40.20 38.50 40.17 -0.02 0.00 40.00 0.02 0.00 -0.02 5.78 80 69

25082 37.90 40.20 38.30 40.10 -0.04 0.00 40.00 0.04 0.00 0.02 13.33 88 61

25132 37.60 40.00 38.20 39.77 -0.06 -0.00 40.00 0.06 0.00 0.03 22.64 97 52

25182 37.50 39.40 38.00 39.24 -0.05 -0.02 40.00 0.07 0.00 0.00 22.82 97 52

25232 37.40 39.00 37.60 38.97 -0.02 -0.02 40.00 0.04 0.00 -0.02 14.18 89 60

25282 37.20 38.90 37.70 38.74 -0.05 -0.03 40.00 0.08 0.00 0.03 26.31 101 48

25332 37.20 38.90 37.70 38.74 -0.05 -0.03 40.00 0.08 0.00 0.00 26.31 101 48

25382 37.80 39.40 37.90 39.39 -0.01 -0.01 40.00 0.02 0.00 -0.05 7.75 82 67

25432 37.10 39.50 37.10 39.50 0.00 -0.01 40.00 0.01 0.00 -0.01 3.50 78 71

25482 37.30 39.80 37.10 39.77 0.02 -0.00 40.00 -0.02 0.00 -0.03 -5.42 69 80

25532 38.60 39.90 37.60 39.26 0.10 -0.01 40.00 -0.09 0.00 -0.07 -29.79 45 104

25582 37.70 39.90 37.40 39.84 0.03 -0.00 40.00 -0.03 0.00 0.06 -9.39 65 84

25632 39.30 39.80 38.00 38.72 0.13 -0.03 40.00 -0.10 0.00 -0.08 -36.57 38 111

25682 38.70 40.40 38.10 40.16 0.06 0.00 40.00 -0.06 0.00 0.04 -22.14 52 97

25732 39.20 40.70 37.90 39.60 0.13 -0.01 40.00 -0.12 0.00 -0.06 -42.70 32 117

25782 39.20 40.70 37.90 39.60 0.13 -0.01 40.00 -0.12 0.00 0.00 -42.70 32 117

25832 38.30 40.40 38.20 40.39 0.01 0.01 40.00 -0.02 0.00 0.10 -6.25 68 81

25882 39.30 40.50 38.50 40.08 0.08 0.00 40.00 -0.08 0.00 -0.06 -28.56 46 103

25932 39.30 41.60 38.80 41.43 0.05 0.03 40.00 -0.08 0.00 0.00 -27.51 47 102

25982 38.30 40.30 38.80 40.14 -0.05 0.00 40.00 0.05 0.00 0.13 16.55 91 58

26032 38.50 40.90 38.60 40.89 -0.01 0.02 40.00 -0.01 0.00 -0.06 -2.75 72 77

26082 38.30 40.60 39.00 40.28 -0.07 0.01 40.00 0.06 0.00 0.07 22.56 97 52

26132 38.40 40.90 38.20 40.87 0.02 0.02 40.00 -0.04 0.00 -0.10 -13.11 61 88

26182 38.40 40.90 38.20 40.87 0.02 0.02 40.00 -0.04 0.00 0.00 -13.11 61 88

26232 38.50 40.40 38.40 40.39 0.01 0.01 40.00 -0.02 0.00 0.02 -6.25 68 81

26282 38.00 39.50 37.70 39.44 0.03 -0.01 40.00 -0.02 0.00 -0.00 -6.59 68 81

26332 37.90 39.70 37.70 39.67 0.02 -0.01 40.00 -0.01 0.00 0.01 -4.72 70 79

26382 37.80 39.10 37.80 39.10 0.00 -0.02 40.00 0.02 0.00 0.03 6.30 81 68

26432 37.00 38.90 37.10 38.89 -0.01 -0.02 40.00 0.03 0.00 0.01 11.24 86 63

26482 36.70 39.40 37.10 39.30 -0.04 -0.01 40.00 0.05 0.00 0.02 18.92 93 56

26532 36.70 38.90 38.00 37.85 -0.13 -0.04 40.00 0.17 0.00 0.12 60.56 127 14

26582 37.20 37.90 37.10 37.89 0.01 -0.04 40.00 0.03 0.00 -0.14 11.24 86 63

26632 37.50 38.80 36.50 38.17 0.10 -0.04 40.00 -0.06 0.00 -0.10 -22.22 52 97

26682 36.90 37.70 37.10 37.68 -0.02 -0.05 40.00 0.07 0.00 0.13 23.27 98 51

26732 36.50 37.60 36.30 37.58 0.02 -0.05 40.00 0.03 0.00 -0.04 9.97 84 65

26782 36.80 37.80 36.70 37.79 0.01 -0.04 40.00 0.03 0.00 0.01 11.94 86 63

26832 36.10 37.40 36.00 37.39 0.01 -0.05 40.00 0.04 0.00 0.01 14.74 89 60

26882 36.20 37.10 36.00 37.08 0.02 -0.06 40.00 0.04 0.00 -0.00 13.47 88 61

26932 36.20 37.10 36.00 37.08 0.02 -0.06 40.00 0.04 0.00 0.00 13.47 88 61

26982 35.20 37.40 36.40 36.54 -0.12 -0.07 40.00 0.19 0.00 0.15 66.25 127 8

27032 35.10 36.90 35.90 36.52 -0.08 -0.07 40.00 0.15 0.00 -0.04 52.38 127 22

27082 35.40 35.80 35.40 35.80 0.00 -0.08 40.00 0.08 0.00 -0.07 29.40 104 45

27132 35.30 35.30 34.90 35.21 0.04 -0.10 40.00 0.06 0.00 -0.03 19.54 94 55

27182 35.40 35.70 34.90 35.55 0.05 -0.09 40.00 0.04 0.00 -0.02 13.62 88 61

27232 35.10 35.90 35.00 35.89 0.01 -0.08 40.00 0.07 0.00 0.03 25.24 100 49

27282 34.90 35.70 34.40 35.55 0.05 -0.09 40.00 0.04 0.00 -0.03 13.62 88 61

27332 35.70 36.40 34.00 34.74 0.17 -0.11 40.00 -0.06 0.00 -0.10 -22.69 52 97

27382 35.60 36.30 34.60 35.71 0.10 -0.09 40.00 -0.01 0.00 0.05 -5.00 69 80

27432 35.60 36.90 35.20 36.80 0.04 -0.06 40.00 0.02 0.00 0.04 8.37 83 66

27482 36.20 36.70 35.20 36.11 0.10 -0.08 40.00 -0.02 0.00 -0.05 -7.76 67 82

27532 36.50 37.20 35.20 36.60 0.10 -0.07 40.00 -0.03 0.00 -0.01 -11.20 63 86

As can be seen from the above raw data and plot, the robot starts out at about 15cm and rapidly (within about 1sec) moves to about 37cm. After that the robot maintains a wall distance between 35 and 40cm, with an average distance of 38.4cm – very nice!

Here’s a short video showing the action:

After this run I decided to try a wall configuration with a single 30º break using the same PID(350,0,0) and div factor (50) as before. The robot was placed nearly parallel with an approx 13cm offset. Here’s the telemetry, the corresponding Excel plot, and a short video.

Front	Center	Rear	Steer

12.20	11.50	13.60	-0.14

12.00	11.60	13.50	-0.15

12.40	11.50	13.60	-0.12

12.60	11.60	13.60	-0.10

12.70	11.50	13.60	-0.09

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00	0.00	0.00
Msec	LF	LC	LR	Steer	Deg	Cos	LCCorr	Set	Err	SpinDeg
WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
53291	12.50	11.60	13.60	11.37	-0.11	-0.57	40.00	0.68	0.00	0.68	238.88	127	0
53341	12.30	11.50	13.40	11.28	-0.11	-0.57	40.00	0.68	0.00	0.00	239.57	127	0
53391	12.30	11.60	13.60	11.29	-0.13	-0.57	40.00	0.70	0.00	0.02	246.50	127	0
53441	12.50	11.20	13.30	11.08	-0.08	-0.58	40.00	0.66	0.00	-0.05	230.41	127	0
53491	12.80	11.80	13.50	11.71	-0.07	-0.57	40.00	0.64	0.00	-0.02	222.56	127	0
53541	13.20	11.60	13.40	11.59	-0.02	-0.57	40.00	0.59	0.00	-0.05	205.85	127	0
53591	14.40	12.60	13.20	12.31	0.12	-0.55	40.00	0.43	0.00	-0.15	151.84	127	0
53641	14.40	12.60	13.20	12.31	0.12	-0.55	40.00	0.43	0.00	0.00	151.84	127	0
53691	16.10	13.80	13.90	12.77	0.22	-0.54	40.00	0.32	0.00	-0.11	113.60	127	0
53741	17.70	16.10	14.60	13.84	0.31	-0.52	40.00	0.21	0.00	-0.11	74.62	127	0
53791	20.30	18.00	15.60	12.89	0.47	-0.54	40.00	0.07	0.00	-0.14	25.30	100	49
53841	23.90	21.80	17.10	11.23	0.68	-0.58	40.00	-0.10	0.00	-0.18	-36.62	38	111
53891	28.10	27.10	20.20	11.29	0.79	-0.57	40.00	-0.22	0.00	-0.11	-75.53	0	127
53941	31.90	31.50	23.60	12.05	0.83	-0.56	40.00	-0.27	0.00	-0.06	-94.88	0	127
53991	35.30	34.10	26.60	11.93	0.87	-0.56	40.00	-0.31	0.00	-0.04	-108.01	0	127
54041	35.80	35.70	29.60	20.41	0.62	-0.39	40.00	-0.23	0.00	0.08	-79.84	0	127
54091	35.80	35.70	29.60	20.41	0.62	-0.39	40.00	-0.23	0.00	0.00	-79.84	0	127
54141	36.30	37.30	29.80	20.26	0.65	-0.39	40.00	-0.26	0.00	-0.03	-89.33	0	127
54191	37.00	35.80	30.80	20.46	0.62	-0.39	40.00	-0.23	0.00	0.03	-80.24	0	127
54241	35.60	36.30	30.50	24.59	0.51	-0.31	40.00	-0.20	0.00	0.03	-70.65	4	127
54291	35.70	35.50	30.30	23.02	0.54	-0.34	40.00	-0.20	0.00	0.00	-70.15	4	127
54341	34.50	34.50	30.60	27.28	0.39	-0.25	40.00	-0.14	0.00	0.06	-47.45	27	122
54391	33.40	33.70	30.10	28.41	0.33	-0.23	40.00	-0.10	0.00	0.04	-34.40	40	109
54441	32.80	33.80	30.30	30.60	0.25	-0.19	40.00	-0.06	0.00	0.04	-21.68	53	96
54491	32.80	33.80	30.30	30.60	0.25	-0.19	40.00	-0.06	0.00	0.00	-21.68	53	96
54541	32.80	33.80	31.10	32.26	0.17	-0.15	40.00	-0.02	0.00	0.05	-5.32	69	80
54591	33.30	33.40	31.00	30.69	0.23	-0.19	40.00	-0.04	0.00	-0.03	-15.34	59	90
54641	33.10	33.00	31.80	32.11	0.13	-0.16	40.00	0.03	0.00	0.07	9.74	84	65
54691	32.90	34.00	31.60	33.08	0.13	-0.14	40.00	0.01	0.00	-0.02	2.93	77	72
54741	33.10	33.60	31.70	32.55	0.14	-0.15	40.00	0.01	0.00	0.00	3.15	78	71
54791	33.30	34.10	32.10	33.31	0.12	-0.13	40.00	0.01	0.00	0.00	4.81	79	70
54841	33.50	34.10	32.10	33.03	0.14	-0.14	40.00	-0.00	0.00	-0.01	-0.24	74	75
54891	33.20	33.80	32.30	33.36	0.09	-0.13	40.00	0.04	0.00	0.04	15.00	89	60
54941	33.20	33.80	32.30	33.36	0.09	-0.13	40.00	0.04	0.00	0.00	15.00	89	60
54991	33.80	34.70	32.00	32.93	0.18	-0.14	40.00	-0.04	0.00	-0.08	-13.54	61	88
55041	33.90	34.80	32.70	34.00	0.12	-0.12	40.00	0.00	0.00	0.04	0.03	75	74
55091	33.90	33.80	32.70	33.02	0.12	-0.14	40.00	0.02	0.00	0.02	6.87	81	68
55141	33.90	33.90	32.20	32.36	0.17	-0.15	40.00	-0.02	0.00	-0.04	-5.99	69	80
55191	32.90	35.00	32.70	34.98	0.02	-0.10	40.00	0.08	0.00	0.10	28.16	103	46
55241	34.00	34.50	33.00	33.94	0.10	-0.12	40.00	0.02	0.00	-0.06	7.40	82	67
55291	33.80	34.60	33.20	34.40	0.06	-0.11	40.00	0.05	0.00	0.03	18.22	93	56
55341	34.20	35.40	33.30	34.94	0.09	-0.10	40.00	0.01	0.00	-0.04	3.95	78	71
55391	34.90	35.70	33.10	33.88	0.18	-0.12	40.00	-0.06	0.00	-0.07	-20.19	54	95
55441	34.80	35.80	33.00	33.98	0.18	-0.12	40.00	-0.06	0.00	-0.00	-20.85	54	95
55491	34.30	35.00	33.80	34.86	0.05	-0.10	40.00	0.05	0.00	0.11	18.50	93	56
55541	35.60	37.00	33.90	35.31	0.17	-0.09	40.00	-0.08	0.00	-0.13	-26.70	48	101
55591	35.10	36.20	33.00	33.73	0.21	-0.13	40.00	-0.08	0.00	-0.01	-29.59	45	104
55641	36.00	36.40	34.50	35.10	0.15	-0.10	40.00	-0.05	0.00	0.03	-18.19	56	93
55691	35.60	37.70	34.50	36.97	0.11	-0.06	40.00	-0.05	0.00	0.00	-17.26	57	92
55741	36.20	38.00	35.70	37.85	0.05	-0.04	40.00	-0.01	0.00	0.04	-2.42	72	77
55791	36.80	37.60	35.30	36.26	0.15	-0.07	40.00	-0.08	0.00	-0.07	-26.29	48	101
55841	37.20	37.20	35.40	35.31	0.18	-0.09	40.00	-0.09	0.00	-0.01	-30.15	44	105
55891	37.70	38.90	35.90	36.92	0.18	-0.06	40.00	-0.12	0.00	-0.03	-41.45	33	116
55941	36.50	38.20	36.50	38.20	0.00	-0.04	40.00	0.04	0.00	0.15	12.60	87	62
55991	37.10	38.80	36.80	38.74	0.03	-0.03	40.00	-0.00	0.00	-0.04	-1.70	73	76
56041	37.40	38.10	36.40	37.49	0.10	-0.05	40.00	-0.05	0.00	-0.04	-17.40	57	92
56091	37.20	39.20	36.80	39.10	0.04	-0.02	40.00	-0.02	0.00	0.03	-7.68	67	82
56141	37.00	39.20	36.60	39.10	0.04	-0.02	40.00	-0.02	0.00	0.00	-7.68	67	82
56191	37.40	39.30	37.60	39.27	-0.02	-0.01	40.00	0.03	0.00	0.06	12.08	87	62
56241	38.00	38.80	36.70	38.74	0.03	-0.03	40.00	-0.00	0.00	-0.04	-1.70	73	76
56291	37.60	39.70	36.50	38.93	0.11	-0.02	40.00	-0.09	0.00	-0.08	-30.99	44	105
56341	38.40	38.90	36.80	37.32	0.16	-0.05	40.00	-0.11	0.00	-0.02	-37.27	37	112
56391	37.50	39.40	38.10	39.17	-0.06	-0.02	40.00	0.08	0.00	0.18	26.81	101	48
56441	37.40	40.40	36.60	39.98	0.08	-0.00	40.00	-0.08	0.00	-0.16	-27.87	47	102
56491	37.30	39.70	37.10	39.67	0.02	-0.01	40.00	-0.01	0.00	0.07	-4.72	70	79
56541	37.50	40.00	36.60	39.48	0.09	-0.01	40.00	-0.08	0.00	-0.07	-27.83	47	102
56591	37.20	39.90	36.90	39.84	0.03	-0.00	40.00	-0.03	0.00	0.05	-9.39	65	84
56641	37.70	40.50	36.30	39.23	0.14	-0.02	40.00	-0.12	0.00	-0.10	-43.64	31	118
56691	38.10	39.30	37.00	38.53	0.11	-0.03	40.00	-0.08	0.00	0.04	-28.24	46	103
56741	38.00	39.10	37.20	38.69	0.08	-0.03	40.00	-0.05	0.00	0.03	-18.86	56	93
56791	37.50	39.10	37.70	39.07	-0.02	-0.02	40.00	0.04	0.00	0.09	13.48	88	61
56841	38.50	39.60	37.10	38.36	0.14	-0.03	40.00	-0.11	0.00	-0.15	-37.54	37	112
56891	38.30	40.20	36.30	37.70	0.20	-0.05	40.00	-0.15	0.00	-0.05	-53.88	21	127
56941	37.00	39.10	37.50	38.94	-0.05	-0.02	40.00	0.07	0.00	0.23	24.91	99	50
56991	37.80	39.90	37.20	39.67	0.06	-0.01	40.00	-0.05	0.00	-0.12	-18.67	56	93
57041	38.00	40.20	37.20	39.78	0.08	-0.00	40.00	-0.08	0.00	-0.02	-26.48	48	101
57091	36.80	39.80	37.50	39.48	-0.07	-0.01	40.00	0.08	0.00	0.16	28.12	103	46
57141	37.50	39.90	37.60	39.89	-0.01	-0.00	40.00	0.01	0.00	-0.07	4.25	79	70
57191	36.60	39.10	36.80	39.07	-0.02	-0.02	40.00	0.04	0.00	0.03	13.48	88	61
57241	37.20	38.60	37.20	38.60	0.00	-0.03	40.00	0.03	0.00	-0.01	9.80	84	65
57291	36.50	39.20	37.10	39.19	0.01	-0.02	40.00	0.01	0.00	-0.02	2.14	77	72
57341	37.70	38.40	36.50	38.40	0.00	-0.03	40.00	0.03	0.00	0.03	11.20	86	63
57391	37.40	38.70	36.30	37.95	0.11	-0.04	40.00	-0.07	0.00	-0.10	-24.13	50	99
57441	36.50	38.00	36.80	37.94	-0.03	-0.04	40.00	0.07	0.00	0.14	24.89	99	50
57491	36.40	37.90	37.00	37.68	-0.06	-0.05	40.00	0.11	0.00	0.04	37.25	112	37
57541	35.70	37.90	36.30	37.68	-0.06	-0.05	40.00	0.11	0.00	0.00	37.25	112	37
57591	35.90	37.80	36.00	37.79	-0.01	-0.04	40.00	0.05	0.00	-0.05	18.94	93	56
57641	35.90	37.90	36.20	37.84	-0.03	-0.04	40.00	0.07	0.00	0.02	25.59	100	49
57691	36.20	37.50	35.90	37.44	0.03	-0.05	40.00	0.02	0.00	-0.05	7.39	82	67
57741	36.70	38.20	35.60	37.46	0.11	-0.05	40.00	-0.06	0.00	-0.08	-20.69	54	95
57791	36.80	37.10	35.80	36.50	0.10	-0.07	40.00	-0.03	0.00	0.03	-10.51	64	85
57841	36.60	38.20	35.80	37.80	0.08	-0.04	40.00	-0.04	0.00	-0.01	-12.63	62	87
57891	38.30	40.00	36.20	37.27	0.21	-0.05	40.00	-0.16	0.00	-0.12	-54.38	20	127
57941	40.00	42.80	36.00	33.45	0.40	-0.13	40.00	-0.27	0.00	-0.11	-94.16	0	127
57991	42.40	43.20	37.70	30.93	0.47	-0.18	40.00	-0.29	0.00	-0.02	-100.99	0	127
58041	41.30	44.50	38.90	40.59	0.24	0.01	40.00	-0.25	0.00	0.04	-88.14	0	127
58091	43.50	44.70	39.00	32.85	0.45	-0.14	40.00	-0.31	0.00	-0.06	-107.46	0	127
58141	43.40	47.20	40.90	42.73	0.25	0.05	40.00	-0.30	0.00	0.00	-106.59	0	127
58191	43.00	46.70	41.00	43.79	0.20	0.08	40.00	-0.28	0.00	0.03	-96.55	0	127
58241	44.10	45.50	41.40	40.53	0.27	0.01	40.00	-0.28	0.00	-0.00	-98.21	0	127
58291	42.40	45.40	40.90	43.78	0.15	0.08	40.00	-0.23	0.00	0.06	-78.94	0	127
58341	42.50	45.10	40.50	42.29	0.20	0.05	40.00	-0.25	0.00	-0.02	-86.05	0	127
58391	43.00	44.70	42.00	43.98	0.10	0.08	40.00	-0.18	0.00	0.07	-62.85	12	127
58441	43.50	44.70	41.40	43.98	0.10	0.08	40.00	-0.18	0.00	0.00	-62.85	12	127
58491	42.90	46.20	45.20	42.45	-0.23	0.05	40.00	0.18	0.00	0.36	63.32	127	11
58541	43.80	48.20	48.80	33.12	-0.50	-0.14	40.00	0.64	0.00	0.46	223.17	127	0
58591	45.80	48.00	47.50	45.81	-0.17	0.12	40.00	0.05	0.00	-0.58	18.81	93	56
58641	44.80	47.00	47.70	41.15	-0.29	0.02	40.00	0.27	0.00	0.21	93.44	127	0
58691	43.40	45.00	47.80	33.50	-0.44	-0.13	40.00	0.57	0.00	0.30	199.52	127	0
58741	42.60	45.10	44.30	43.04	-0.17	0.06	40.00	0.11	0.00	-0.46	38.19	113	36
58791	41.50	43.40	41.30	43.37	0.02	0.07	40.00	-0.09	0.00	-0.20	-30.60	44	105
58841	40.70	43.10	40.70	43.10	0.00	0.06	40.00	-0.06	0.00	0.03	-21.70	53	96
58891	40.50	42.80	40.40	42.79	0.01	0.06	40.00	-0.07	0.00	-0.00	-23.05	51	98
58941	40.00	43.00	40.10	42.99	-0.01	0.06	40.00	-0.05	0.00	0.02	-17.45	57	92
58991	41.50	42.40	40.20	41.25	0.13	0.03	40.00	-0.16	0.00	-0.11	-54.28	20	127
59041	39.60	43.30	40.10	43.12	-0.05	0.06	40.00	-0.01	0.00	0.14	-4.37	70	79
59091	39.50	41.90	39.90	41.79	-0.04	0.04	40.00	0.00	0.00	0.02	1.46	76	73
59141	40.30	41.60	40.20	41.59	0.01	0.03	40.00	-0.04	0.00	-0.05	-14.65	60	89
59191	39.30	41.70	39.70	41.59	-0.04	0.03	40.00	0.01	0.00	0.05	2.86	77	72
59241	39.30	41.60	40.50	40.64	-0.12	0.01	40.00	0.11	0.00	0.10	37.53	112	37
59291	38.80	41.00	39.40	40.76	-0.06	0.02	40.00	0.04	0.00	-0.06	15.68	90	59
59341	38.60	40.40	38.90	40.34	-0.03	0.01	40.00	0.02	0.00	-0.02	8.12	83	66
59391	38.50	39.60	38.50	39.60	0.00	-0.01	40.00	0.01	0.00	-0.02	2.80	77	72
59441	37.90	40.40	38.70	39.98	-0.08	-0.00	40.00	0.08	0.00	0.07	28.13	103	46
59491	37.20	39.80	38.10	39.28	-0.09	-0.01	40.00	0.10	0.00	0.02	36.55	111	38
59541	37.50	39.20	37.10	39.10	0.04	-0.02	40.00	-0.02	0.00	-0.13	-7.68	67	82
59591	36.50	38.50	37.40	38.40	-0.04	-0.03	40.00	0.07	0.00	0.09	25.20	100	49
59641	36.50	38.60	36.30	38.57	0.02	-0.03	40.00	0.01	0.00	-0.06	2.98	77	72
59691	36.60	39.00	36.30	38.94	0.03	-0.02	40.00	-0.01	0.00	-0.02	-3.10	71	78
59741	37.00	38.90	36.30	38.59	0.07	-0.03	40.00	-0.04	0.00	-0.03	-14.63	60	89
59791	37.60	38.70	36.70	38.19	0.09	-0.04	40.00	-0.05	0.00	-0.01	-18.85	56	93
59841	37.60	38.60	37.10	38.44	0.05	-0.03	40.00	-0.02	0.00	0.04	-6.60	68	81
59891	36.50	38.80	36.80	38.74	-0.03	-0.03	40.00	0.06	0.00	0.07	19.30	94	55
59941	37.20	39.30	36.10	38.53	0.11	-0.03	40.00	-0.08	0.00	-0.14	-28.24	46	103
59991	36.90	38.20	36.80	38.19	0.01	-0.04	40.00	0.03	0.00	0.11	9.14	84	65
60041	36.80	38.20	36.40	38.10	0.04	-0.04	40.00	-0.00	0.00	-0.03	-0.70	74	75
60091	37.40	38.90	36.90	38.74	0.05	-0.03	40.00	-0.02	0.00	-0.02	-8.69	66	83
60141	36.90	37.60	37.10	37.58	-0.02	-0.05	40.00	0.07	0.00	0.09	23.97	98	51
60191	37.70	38.10	37.10	37.88	0.06	-0.04	40.00	-0.02	0.00	-0.09	-6.14	68	81
60241	36.80	38.60	36.50	38.54	0.03	-0.03	40.00	-0.00	0.00	0.02	-0.30	74	75
60291	37.20	38.40	36.50	38.09	0.07	-0.04	40.00	-0.03	0.00	-0.03	-11.16	63	86
60341	36.30	38.50	36.40	38.49	-0.01	-0.03	40.00	0.04	0.00	0.07	14.04	89	60
60391	36.50	37.70	36.00	37.55	0.05	-0.05	40.00	-0.00	0.00	-0.04	-0.33	74	75
60441	36.80	38.10	36.50	38.04	0.03	-0.04	40.00	0.01	0.00	0.01	3.19	78	71
60491	37.00	38.40	36.20	38.00	0.08	-0.04	40.00	-0.04	0.00	-0.05	-14.01	60	89
60541	36.40	38.20	36.50	38.19	-0.01	-0.04	40.00	0.05	0.00	0.09	16.14	91	58
60591	36.70	38.40	35.80	37.90	0.09	-0.04	40.00	-0.05	0.00	-0.09	-16.78	58	91
60641	37.20	38.90	36.20	38.27	0.10	-0.03	40.00	-0.07	0.00	-0.02	-22.91	52	97
60691	37.80	38.50	36.40	37.30	0.14	-0.05	40.00	-0.09	0.00	-0.02	-30.08	44	105
60741	36.50	38.80	36.50	38.80	0.00	-0.02	40.00	0.02	0.00	0.11	8.40	83	66
60791	36.90	38.90	36.60	38.84	0.03	-0.02	40.00	-0.01	0.00	-0.03	-2.40	72	77
60841	37.60	39.40	36.80	38.99	0.08	-0.02	40.00	-0.06	0.00	-0.05	-20.94	54	95
60891	38.50	38.80	36.60	36.61	0.19	-0.07	40.00	-0.12	0.00	-0.06	-42.77	32	117
60941	37.90	39.50	36.30	37.90	0.16	-0.04	40.00	-0.12	0.00	0.00	-41.30	33	116
60991	38.00	38.80	37.10	38.29	0.09	-0.03	40.00	-0.06	0.00	0.06	-19.54	55	94
61041	37.20	39.40	37.00	39.37	0.02	-0.01	40.00	-0.01	0.00	0.05	-2.62	72	77
61091	37.20	39.20	37.40	39.17	-0.02	-0.02	40.00	0.04	0.00	0.04	12.78	87	62
61141	37.10	39.70	38.00	39.18	-0.09	-0.02	40.00	0.11	0.00	0.07	37.24	112	37
61191	37.40	39.00	38.00	38.77	-0.06	-0.02	40.00	0.08	0.00	-0.02	29.60	104	45
61241	37.70	38.90	37.40	38.84	0.03	-0.02	40.00	-0.01	0.00	-0.09	-2.40	72	77
61291	37.00	38.30	37.10	38.29	-0.01	-0.03	40.00	0.04	0.00	0.05	15.44	90	59
61341	37.00	37.90	37.10	37.89	-0.01	-0.04	40.00	0.05	0.00	0.01	18.24	93	56
61391	35.90	37.40	36.20	37.35	-0.03	-0.05	40.00	0.08	0.00	0.03	29.08	104	45
61441	36.20	37.20	35.80	37.10	0.04	-0.06	40.00	0.02	0.00	-0.07	6.28	81	68
61491	35.50	36.80	36.00	36.65	-0.05	-0.07	40.00	0.12	0.00	0.10	40.95	115	34
61541	34.60	35.50	34.90	35.45	-0.03	-0.09	40.00	0.12	0.00	0.00	42.36	117	32
61591	34.10	36.10	34.80	35.81	-0.07	-0.08	40.00	0.15	0.00	0.03	53.81	127	21
61641	34.50	34.90	33.40	34.22	0.11	-0.12	40.00	0.01	0.00	-0.15	1.96	76	73
61691	33.60	34.00	33.40	33.98	0.02	-0.12	40.00	0.10	0.00	0.09	35.16	110	39
61741	33.40	34.00	32.70	33.73	0.07	-0.13	40.00	0.06	0.00	-0.05	19.39	94	55
61791	32.60	33.80	32.30	33.75	0.03	-0.12	40.00	0.09	0.00	0.04	33.25	108	41
61841	32.50	33.50	32.30	33.45	0.03	-0.13	40.00	0.10	0.00	0.01	35.34	110	39
61891	32.50	33.50	32.20	33.45	0.03	-0.13	40.00	0.10	0.00	0.00	35.34	110	39
61941	32.80	33.40	32.00	33.05	0.08	-0.14	40.00	0.06	0.00	-0.04	20.62	95	54
61991	32.50	32.70	32.10	32.61	0.04	-0.15	40.00	0.11	0.00	0.05	37.70	112	37
62041	32.90	32.90	31.50	31.87	0.14	-0.16	40.00	0.02	0.00	-0.09	7.90	82	67

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Front Center Rear Steer

12.20 11.50 13.60 -0.14

12.00 11.60 13.50 -0.15

12.40 11.50 13.60 -0.12

12.60 11.60 13.60 -0.10

12.70 11.50 13.60 -0.09

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00 0.00 0.00

Msec LF LC LR Steer Deg Cos LCCorr Set Err SpinDeg

WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd

53291 12.50 11.60 13.60 11.37 -0.11 -0.57 40.00 0.68 0.00 0.68 238.88 127 0

53341 12.30 11.50 13.40 11.28 -0.11 -0.57 40.00 0.68 0.00 0.00 239.57 127 0

53391 12.30 11.60 13.60 11.29 -0.13 -0.57 40.00 0.70 0.00 0.02 246.50 127 0

53441 12.50 11.20 13.30 11.08 -0.08 -0.58 40.00 0.66 0.00 -0.05 230.41 127 0

53491 12.80 11.80 13.50 11.71 -0.07 -0.57 40.00 0.64 0.00 -0.02 222.56 127 0

53541 13.20 11.60 13.40 11.59 -0.02 -0.57 40.00 0.59 0.00 -0.05 205.85 127 0

53591 14.40 12.60 13.20 12.31 0.12 -0.55 40.00 0.43 0.00 -0.15 151.84 127 0

53641 14.40 12.60 13.20 12.31 0.12 -0.55 40.00 0.43 0.00 0.00 151.84 127 0

53691 16.10 13.80 13.90 12.77 0.22 -0.54 40.00 0.32 0.00 -0.11 113.60 127 0

53741 17.70 16.10 14.60 13.84 0.31 -0.52 40.00 0.21 0.00 -0.11 74.62 127 0

53791 20.30 18.00 15.60 12.89 0.47 -0.54 40.00 0.07 0.00 -0.14 25.30 100 49

53841 23.90 21.80 17.10 11.23 0.68 -0.58 40.00 -0.10 0.00 -0.18 -36.62 38 111

53891 28.10 27.10 20.20 11.29 0.79 -0.57 40.00 -0.22 0.00 -0.11 -75.53 0 127

53941 31.90 31.50 23.60 12.05 0.83 -0.56 40.00 -0.27 0.00 -0.06 -94.88 0 127

53991 35.30 34.10 26.60 11.93 0.87 -0.56 40.00 -0.31 0.00 -0.04 -108.01 0 127

54041 35.80 35.70 29.60 20.41 0.62 -0.39 40.00 -0.23 0.00 0.08 -79.84 0 127

54091 35.80 35.70 29.60 20.41 0.62 -0.39 40.00 -0.23 0.00 0.00 -79.84 0 127

54141 36.30 37.30 29.80 20.26 0.65 -0.39 40.00 -0.26 0.00 -0.03 -89.33 0 127

54191 37.00 35.80 30.80 20.46 0.62 -0.39 40.00 -0.23 0.00 0.03 -80.24 0 127

54241 35.60 36.30 30.50 24.59 0.51 -0.31 40.00 -0.20 0.00 0.03 -70.65 4 127

54291 35.70 35.50 30.30 23.02 0.54 -0.34 40.00 -0.20 0.00 0.00 -70.15 4 127

54341 34.50 34.50 30.60 27.28 0.39 -0.25 40.00 -0.14 0.00 0.06 -47.45 27 122

54391 33.40 33.70 30.10 28.41 0.33 -0.23 40.00 -0.10 0.00 0.04 -34.40 40 109

54441 32.80 33.80 30.30 30.60 0.25 -0.19 40.00 -0.06 0.00 0.04 -21.68 53 96

54491 32.80 33.80 30.30 30.60 0.25 -0.19 40.00 -0.06 0.00 0.00 -21.68 53 96

54541 32.80 33.80 31.10 32.26 0.17 -0.15 40.00 -0.02 0.00 0.05 -5.32 69 80

54591 33.30 33.40 31.00 30.69 0.23 -0.19 40.00 -0.04 0.00 -0.03 -15.34 59 90

54641 33.10 33.00 31.80 32.11 0.13 -0.16 40.00 0.03 0.00 0.07 9.74 84 65

54691 32.90 34.00 31.60 33.08 0.13 -0.14 40.00 0.01 0.00 -0.02 2.93 77 72

54741 33.10 33.60 31.70 32.55 0.14 -0.15 40.00 0.01 0.00 0.00 3.15 78 71

54791 33.30 34.10 32.10 33.31 0.12 -0.13 40.00 0.01 0.00 0.00 4.81 79 70

54841 33.50 34.10 32.10 33.03 0.14 -0.14 40.00 -0.00 0.00 -0.01 -0.24 74 75

54891 33.20 33.80 32.30 33.36 0.09 -0.13 40.00 0.04 0.00 0.04 15.00 89 60

54941 33.20 33.80 32.30 33.36 0.09 -0.13 40.00 0.04 0.00 0.00 15.00 89 60

54991 33.80 34.70 32.00 32.93 0.18 -0.14 40.00 -0.04 0.00 -0.08 -13.54 61 88

55041 33.90 34.80 32.70 34.00 0.12 -0.12 40.00 0.00 0.00 0.04 0.03 75 74

55091 33.90 33.80 32.70 33.02 0.12 -0.14 40.00 0.02 0.00 0.02 6.87 81 68

55141 33.90 33.90 32.20 32.36 0.17 -0.15 40.00 -0.02 0.00 -0.04 -5.99 69 80

55191 32.90 35.00 32.70 34.98 0.02 -0.10 40.00 0.08 0.00 0.10 28.16 103 46

55241 34.00 34.50 33.00 33.94 0.10 -0.12 40.00 0.02 0.00 -0.06 7.40 82 67

55291 33.80 34.60 33.20 34.40 0.06 -0.11 40.00 0.05 0.00 0.03 18.22 93 56

55341 34.20 35.40 33.30 34.94 0.09 -0.10 40.00 0.01 0.00 -0.04 3.95 78 71

55391 34.90 35.70 33.10 33.88 0.18 -0.12 40.00 -0.06 0.00 -0.07 -20.19 54 95

55441 34.80 35.80 33.00 33.98 0.18 -0.12 40.00 -0.06 0.00 -0.00 -20.85 54 95

55491 34.30 35.00 33.80 34.86 0.05 -0.10 40.00 0.05 0.00 0.11 18.50 93 56

55541 35.60 37.00 33.90 35.31 0.17 -0.09 40.00 -0.08 0.00 -0.13 -26.70 48 101

55591 35.10 36.20 33.00 33.73 0.21 -0.13 40.00 -0.08 0.00 -0.01 -29.59 45 104

55641 36.00 36.40 34.50 35.10 0.15 -0.10 40.00 -0.05 0.00 0.03 -18.19 56 93

55691 35.60 37.70 34.50 36.97 0.11 -0.06 40.00 -0.05 0.00 0.00 -17.26 57 92

55741 36.20 38.00 35.70 37.85 0.05 -0.04 40.00 -0.01 0.00 0.04 -2.42 72 77

55791 36.80 37.60 35.30 36.26 0.15 -0.07 40.00 -0.08 0.00 -0.07 -26.29 48 101

55841 37.20 37.20 35.40 35.31 0.18 -0.09 40.00 -0.09 0.00 -0.01 -30.15 44 105

55891 37.70 38.90 35.90 36.92 0.18 -0.06 40.00 -0.12 0.00 -0.03 -41.45 33 116

55941 36.50 38.20 36.50 38.20 0.00 -0.04 40.00 0.04 0.00 0.15 12.60 87 62

55991 37.10 38.80 36.80 38.74 0.03 -0.03 40.00 -0.00 0.00 -0.04 -1.70 73 76

56041 37.40 38.10 36.40 37.49 0.10 -0.05 40.00 -0.05 0.00 -0.04 -17.40 57 92

56091 37.20 39.20 36.80 39.10 0.04 -0.02 40.00 -0.02 0.00 0.03 -7.68 67 82

56141 37.00 39.20 36.60 39.10 0.04 -0.02 40.00 -0.02 0.00 0.00 -7.68 67 82

56191 37.40 39.30 37.60 39.27 -0.02 -0.01 40.00 0.03 0.00 0.06 12.08 87 62

56241 38.00 38.80 36.70 38.74 0.03 -0.03 40.00 -0.00 0.00 -0.04 -1.70 73 76

56291 37.60 39.70 36.50 38.93 0.11 -0.02 40.00 -0.09 0.00 -0.08 -30.99 44 105

56341 38.40 38.90 36.80 37.32 0.16 -0.05 40.00 -0.11 0.00 -0.02 -37.27 37 112

56391 37.50 39.40 38.10 39.17 -0.06 -0.02 40.00 0.08 0.00 0.18 26.81 101 48

56441 37.40 40.40 36.60 39.98 0.08 -0.00 40.00 -0.08 0.00 -0.16 -27.87 47 102

56491 37.30 39.70 37.10 39.67 0.02 -0.01 40.00 -0.01 0.00 0.07 -4.72 70 79

56541 37.50 40.00 36.60 39.48 0.09 -0.01 40.00 -0.08 0.00 -0.07 -27.83 47 102

56591 37.20 39.90 36.90 39.84 0.03 -0.00 40.00 -0.03 0.00 0.05 -9.39 65 84

56641 37.70 40.50 36.30 39.23 0.14 -0.02 40.00 -0.12 0.00 -0.10 -43.64 31 118

56691 38.10 39.30 37.00 38.53 0.11 -0.03 40.00 -0.08 0.00 0.04 -28.24 46 103

56741 38.00 39.10 37.20 38.69 0.08 -0.03 40.00 -0.05 0.00 0.03 -18.86 56 93

56791 37.50 39.10 37.70 39.07 -0.02 -0.02 40.00 0.04 0.00 0.09 13.48 88 61

56841 38.50 39.60 37.10 38.36 0.14 -0.03 40.00 -0.11 0.00 -0.15 -37.54 37 112

56891 38.30 40.20 36.30 37.70 0.20 -0.05 40.00 -0.15 0.00 -0.05 -53.88 21 127

56941 37.00 39.10 37.50 38.94 -0.05 -0.02 40.00 0.07 0.00 0.23 24.91 99 50

56991 37.80 39.90 37.20 39.67 0.06 -0.01 40.00 -0.05 0.00 -0.12 -18.67 56 93

57041 38.00 40.20 37.20 39.78 0.08 -0.00 40.00 -0.08 0.00 -0.02 -26.48 48 101

57091 36.80 39.80 37.50 39.48 -0.07 -0.01 40.00 0.08 0.00 0.16 28.12 103 46

57141 37.50 39.90 37.60 39.89 -0.01 -0.00 40.00 0.01 0.00 -0.07 4.25 79 70

57191 36.60 39.10 36.80 39.07 -0.02 -0.02 40.00 0.04 0.00 0.03 13.48 88 61

57241 37.20 38.60 37.20 38.60 0.00 -0.03 40.00 0.03 0.00 -0.01 9.80 84 65

57291 36.50 39.20 37.10 39.19 0.01 -0.02 40.00 0.01 0.00 -0.02 2.14 77 72

57341 37.70 38.40 36.50 38.40 0.00 -0.03 40.00 0.03 0.00 0.03 11.20 86 63

57391 37.40 38.70 36.30 37.95 0.11 -0.04 40.00 -0.07 0.00 -0.10 -24.13 50 99

57441 36.50 38.00 36.80 37.94 -0.03 -0.04 40.00 0.07 0.00 0.14 24.89 99 50

57491 36.40 37.90 37.00 37.68 -0.06 -0.05 40.00 0.11 0.00 0.04 37.25 112 37

57541 35.70 37.90 36.30 37.68 -0.06 -0.05 40.00 0.11 0.00 0.00 37.25 112 37

57591 35.90 37.80 36.00 37.79 -0.01 -0.04 40.00 0.05 0.00 -0.05 18.94 93 56

57641 35.90 37.90 36.20 37.84 -0.03 -0.04 40.00 0.07 0.00 0.02 25.59 100 49

57691 36.20 37.50 35.90 37.44 0.03 -0.05 40.00 0.02 0.00 -0.05 7.39 82 67

57741 36.70 38.20 35.60 37.46 0.11 -0.05 40.00 -0.06 0.00 -0.08 -20.69 54 95

57791 36.80 37.10 35.80 36.50 0.10 -0.07 40.00 -0.03 0.00 0.03 -10.51 64 85

57841 36.60 38.20 35.80 37.80 0.08 -0.04 40.00 -0.04 0.00 -0.01 -12.63 62 87

57891 38.30 40.00 36.20 37.27 0.21 -0.05 40.00 -0.16 0.00 -0.12 -54.38 20 127

57941 40.00 42.80 36.00 33.45 0.40 -0.13 40.00 -0.27 0.00 -0.11 -94.16 0 127

57991 42.40 43.20 37.70 30.93 0.47 -0.18 40.00 -0.29 0.00 -0.02 -100.99 0 127

58041 41.30 44.50 38.90 40.59 0.24 0.01 40.00 -0.25 0.00 0.04 -88.14 0 127

58091 43.50 44.70 39.00 32.85 0.45 -0.14 40.00 -0.31 0.00 -0.06 -107.46 0 127

58141 43.40 47.20 40.90 42.73 0.25 0.05 40.00 -0.30 0.00 0.00 -106.59 0 127

58191 43.00 46.70 41.00 43.79 0.20 0.08 40.00 -0.28 0.00 0.03 -96.55 0 127

58241 44.10 45.50 41.40 40.53 0.27 0.01 40.00 -0.28 0.00 -0.00 -98.21 0 127

58291 42.40 45.40 40.90 43.78 0.15 0.08 40.00 -0.23 0.00 0.06 -78.94 0 127

58341 42.50 45.10 40.50 42.29 0.20 0.05 40.00 -0.25 0.00 -0.02 -86.05 0 127

58391 43.00 44.70 42.00 43.98 0.10 0.08 40.00 -0.18 0.00 0.07 -62.85 12 127

58441 43.50 44.70 41.40 43.98 0.10 0.08 40.00 -0.18 0.00 0.00 -62.85 12 127

58491 42.90 46.20 45.20 42.45 -0.23 0.05 40.00 0.18 0.00 0.36 63.32 127 11

58541 43.80 48.20 48.80 33.12 -0.50 -0.14 40.00 0.64 0.00 0.46 223.17 127 0

58591 45.80 48.00 47.50 45.81 -0.17 0.12 40.00 0.05 0.00 -0.58 18.81 93 56

58641 44.80 47.00 47.70 41.15 -0.29 0.02 40.00 0.27 0.00 0.21 93.44 127 0

58691 43.40 45.00 47.80 33.50 -0.44 -0.13 40.00 0.57 0.00 0.30 199.52 127 0

58741 42.60 45.10 44.30 43.04 -0.17 0.06 40.00 0.11 0.00 -0.46 38.19 113 36

58791 41.50 43.40 41.30 43.37 0.02 0.07 40.00 -0.09 0.00 -0.20 -30.60 44 105

58841 40.70 43.10 40.70 43.10 0.00 0.06 40.00 -0.06 0.00 0.03 -21.70 53 96

58891 40.50 42.80 40.40 42.79 0.01 0.06 40.00 -0.07 0.00 -0.00 -23.05 51 98

58941 40.00 43.00 40.10 42.99 -0.01 0.06 40.00 -0.05 0.00 0.02 -17.45 57 92

58991 41.50 42.40 40.20 41.25 0.13 0.03 40.00 -0.16 0.00 -0.11 -54.28 20 127

59041 39.60 43.30 40.10 43.12 -0.05 0.06 40.00 -0.01 0.00 0.14 -4.37 70 79

59091 39.50 41.90 39.90 41.79 -0.04 0.04 40.00 0.00 0.00 0.02 1.46 76 73

59141 40.30 41.60 40.20 41.59 0.01 0.03 40.00 -0.04 0.00 -0.05 -14.65 60 89

59191 39.30 41.70 39.70 41.59 -0.04 0.03 40.00 0.01 0.00 0.05 2.86 77 72

59241 39.30 41.60 40.50 40.64 -0.12 0.01 40.00 0.11 0.00 0.10 37.53 112 37

59291 38.80 41.00 39.40 40.76 -0.06 0.02 40.00 0.04 0.00 -0.06 15.68 90 59

59341 38.60 40.40 38.90 40.34 -0.03 0.01 40.00 0.02 0.00 -0.02 8.12 83 66

59391 38.50 39.60 38.50 39.60 0.00 -0.01 40.00 0.01 0.00 -0.02 2.80 77 72

59441 37.90 40.40 38.70 39.98 -0.08 -0.00 40.00 0.08 0.00 0.07 28.13 103 46

59491 37.20 39.80 38.10 39.28 -0.09 -0.01 40.00 0.10 0.00 0.02 36.55 111 38

59541 37.50 39.20 37.10 39.10 0.04 -0.02 40.00 -0.02 0.00 -0.13 -7.68 67 82

59591 36.50 38.50 37.40 38.40 -0.04 -0.03 40.00 0.07 0.00 0.09 25.20 100 49

59641 36.50 38.60 36.30 38.57 0.02 -0.03 40.00 0.01 0.00 -0.06 2.98 77 72

59691 36.60 39.00 36.30 38.94 0.03 -0.02 40.00 -0.01 0.00 -0.02 -3.10 71 78

59741 37.00 38.90 36.30 38.59 0.07 -0.03 40.00 -0.04 0.00 -0.03 -14.63 60 89

59791 37.60 38.70 36.70 38.19 0.09 -0.04 40.00 -0.05 0.00 -0.01 -18.85 56 93

59841 37.60 38.60 37.10 38.44 0.05 -0.03 40.00 -0.02 0.00 0.04 -6.60 68 81

59891 36.50 38.80 36.80 38.74 -0.03 -0.03 40.00 0.06 0.00 0.07 19.30 94 55

59941 37.20 39.30 36.10 38.53 0.11 -0.03 40.00 -0.08 0.00 -0.14 -28.24 46 103

59991 36.90 38.20 36.80 38.19 0.01 -0.04 40.00 0.03 0.00 0.11 9.14 84 65

60041 36.80 38.20 36.40 38.10 0.04 -0.04 40.00 -0.00 0.00 -0.03 -0.70 74 75

60091 37.40 38.90 36.90 38.74 0.05 -0.03 40.00 -0.02 0.00 -0.02 -8.69 66 83

60141 36.90 37.60 37.10 37.58 -0.02 -0.05 40.00 0.07 0.00 0.09 23.97 98 51

60191 37.70 38.10 37.10 37.88 0.06 -0.04 40.00 -0.02 0.00 -0.09 -6.14 68 81

60241 36.80 38.60 36.50 38.54 0.03 -0.03 40.00 -0.00 0.00 0.02 -0.30 74 75

60291 37.20 38.40 36.50 38.09 0.07 -0.04 40.00 -0.03 0.00 -0.03 -11.16 63 86

60341 36.30 38.50 36.40 38.49 -0.01 -0.03 40.00 0.04 0.00 0.07 14.04 89 60

60391 36.50 37.70 36.00 37.55 0.05 -0.05 40.00 -0.00 0.00 -0.04 -0.33 74 75

60441 36.80 38.10 36.50 38.04 0.03 -0.04 40.00 0.01 0.00 0.01 3.19 78 71

60491 37.00 38.40 36.20 38.00 0.08 -0.04 40.00 -0.04 0.00 -0.05 -14.01 60 89

60541 36.40 38.20 36.50 38.19 -0.01 -0.04 40.00 0.05 0.00 0.09 16.14 91 58

60591 36.70 38.40 35.80 37.90 0.09 -0.04 40.00 -0.05 0.00 -0.09 -16.78 58 91

60641 37.20 38.90 36.20 38.27 0.10 -0.03 40.00 -0.07 0.00 -0.02 -22.91 52 97

60691 37.80 38.50 36.40 37.30 0.14 -0.05 40.00 -0.09 0.00 -0.02 -30.08 44 105

60741 36.50 38.80 36.50 38.80 0.00 -0.02 40.00 0.02 0.00 0.11 8.40 83 66

60791 36.90 38.90 36.60 38.84 0.03 -0.02 40.00 -0.01 0.00 -0.03 -2.40 72 77

60841 37.60 39.40 36.80 38.99 0.08 -0.02 40.00 -0.06 0.00 -0.05 -20.94 54 95

60891 38.50 38.80 36.60 36.61 0.19 -0.07 40.00 -0.12 0.00 -0.06 -42.77 32 117

60941 37.90 39.50 36.30 37.90 0.16 -0.04 40.00 -0.12 0.00 0.00 -41.30 33 116

60991 38.00 38.80 37.10 38.29 0.09 -0.03 40.00 -0.06 0.00 0.06 -19.54 55 94

61041 37.20 39.40 37.00 39.37 0.02 -0.01 40.00 -0.01 0.00 0.05 -2.62 72 77

61091 37.20 39.20 37.40 39.17 -0.02 -0.02 40.00 0.04 0.00 0.04 12.78 87 62

61141 37.10 39.70 38.00 39.18 -0.09 -0.02 40.00 0.11 0.00 0.07 37.24 112 37

61191 37.40 39.00 38.00 38.77 -0.06 -0.02 40.00 0.08 0.00 -0.02 29.60 104 45

61241 37.70 38.90 37.40 38.84 0.03 -0.02 40.00 -0.01 0.00 -0.09 -2.40 72 77

61291 37.00 38.30 37.10 38.29 -0.01 -0.03 40.00 0.04 0.00 0.05 15.44 90 59

61341 37.00 37.90 37.10 37.89 -0.01 -0.04 40.00 0.05 0.00 0.01 18.24 93 56

61391 35.90 37.40 36.20 37.35 -0.03 -0.05 40.00 0.08 0.00 0.03 29.08 104 45

61441 36.20 37.20 35.80 37.10 0.04 -0.06 40.00 0.02 0.00 -0.07 6.28 81 68

61491 35.50 36.80 36.00 36.65 -0.05 -0.07 40.00 0.12 0.00 0.10 40.95 115 34

61541 34.60 35.50 34.90 35.45 -0.03 -0.09 40.00 0.12 0.00 0.00 42.36 117 32

61591 34.10 36.10 34.80 35.81 -0.07 -0.08 40.00 0.15 0.00 0.03 53.81 127 21

61641 34.50 34.90 33.40 34.22 0.11 -0.12 40.00 0.01 0.00 -0.15 1.96 76 73

61691 33.60 34.00 33.40 33.98 0.02 -0.12 40.00 0.10 0.00 0.09 35.16 110 39

61741 33.40 34.00 32.70 33.73 0.07 -0.13 40.00 0.06 0.00 -0.05 19.39 94 55

61791 32.60 33.80 32.30 33.75 0.03 -0.12 40.00 0.09 0.00 0.04 33.25 108 41

61841 32.50 33.50 32.30 33.45 0.03 -0.13 40.00 0.10 0.00 0.01 35.34 110 39

61891 32.50 33.50 32.20 33.45 0.03 -0.13 40.00 0.10 0.00 0.00 35.34 110 39

61941 32.80 33.40 32.00 33.05 0.08 -0.14 40.00 0.06 0.00 -0.04 20.62 95 54

61991 32.50 32.70 32.10 32.61 0.04 -0.15 40.00 0.11 0.00 0.05 37.70 112 37

62041 32.90 32.90 31.50 31.87 0.14 -0.16 40.00 0.02 0.00 -0.09 7.90 82 67

After this run I decided to push my luck and try a ‘two break’ wall configuration, again with a very small initial offset. Here’s the raw telemetry output, the corresponding Excel plot, and a short video showing the action.

Front	Center	Rear	Steer

14.20	13.00	15.30	-0.11

14.20	13.80	15.20	-0.10

14.30	13.00	15.20	-0.08

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00	0.00	0.00
Msec	LF	LC	LR	Steer	Deg	Cos	LCCorr	Set	Err	SpinDeg
WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec	LF	LC	LR	LCCorr	Steer	Tweak	OffCm	Err	LastI	LastD	Out	Lspd	Rspd
26504	14.20	13.30	15.30	13.04	-0.11	-0.54	40.00	0.65	0.00	0.65	227.21	127	0
26554	14.10	12.80	15.20	12.55	-0.11	-0.55	40.00	0.66	0.00	0.01	230.64	127	0
26604	14.40	13.40	15.30	13.22	-0.09	-0.54	40.00	0.63	0.00	-0.03	218.93	127	0
26654	14.60	13.30	15.20	13.22	-0.06	-0.54	40.00	0.60	0.00	-0.03	208.44	127	0
26704	15.00	13.50	14.90	13.50	0.01	-0.53	40.00	0.52	0.00	-0.08	182.02	127	0
26754	15.20	13.70	14.90	13.68	0.03	-0.53	40.00	0.50	0.00	-0.02	173.74	127	0
26804	16.30	14.80	14.80	14.27	0.15	-0.51	40.00	0.36	0.00	-0.13	127.60	127	0
26854	18.20	15.60	15.00	13.28	0.32	-0.53	40.00	0.21	0.00	-0.15	75.02	127	0
26904	20.40	15.60	15.00	13.28	0.32	-0.53	40.00	0.21	0.00	0.00	75.02	127	0
26954	20.40	17.30	16.10	13.04	0.43	-0.54	40.00	0.11	0.00	-0.11	38.22	113	36
27004	23.00	19.90	18.00	13.67	0.50	-0.53	40.00	0.03	0.00	-0.08	9.28	84	65
27054	26.70	24.40	20.20	13.25	0.65	-0.53	40.00	-0.12	0.00	-0.14	-40.28	34	115
27104	29.90	28.40	23.10	14.63	0.68	-0.51	40.00	-0.17	0.00	-0.06	-60.42	14	127
27154	33.70	31.40	25.90	13.35	0.78	-0.53	40.00	-0.25	0.00	-0.07	-86.48	0	127
27204	35.20	35.30	29.00	20.18	0.62	-0.40	40.00	-0.22	0.00	0.02	-78.24	0	127
27254	37.00	36.00	30.30	18.88	0.67	-0.42	40.00	-0.25	0.00	-0.02	-86.67	0	127
27304	37.00	36.90	31.90	25.00	0.51	-0.30	40.00	-0.21	0.00	0.04	-73.49	1	127
27354	37.00	36.90	31.90	25.00	0.51	-0.30	40.00	-0.21	0.00	0.00	-73.49	1	127
27404	37.70	37.10	31.60	21.56	0.61	-0.37	40.00	-0.24	0.00	-0.03	-84.42	0	127
27454	36.60	37.30	32.20	27.77	0.44	-0.24	40.00	-0.20	0.00	0.05	-68.36	6	127
27504	35.30	35.60	31.40	28.15	0.39	-0.24	40.00	-0.15	0.00	0.04	-53.54	21	127
27554	35.20	35.30	32.10	30.35	0.31	-0.19	40.00	-0.12	0.00	0.04	-40.92	34	115
27604	34.50	34.00	31.60	29.77	0.29	-0.20	40.00	-0.09	0.00	0.03	-29.88	45	104
27654	33.80	34.10	32.00	32.37	0.18	-0.15	40.00	-0.03	0.00	0.06	-9.56	65	84
27704	34.00	33.80	32.50	32.59	0.15	-0.15	40.00	-0.00	0.00	0.03	-0.64	74	75
27754	34.30	34.60	32.50	33.36	0.15	-0.13	40.00	-0.02	0.00	-0.02	-6.04	68	81
27804	34.30	34.60	32.90	33.52	0.14	-0.13	40.00	-0.01	0.00	0.01	-3.63	71	78
27854	34.10	34.30	32.90	33.51	0.12	-0.13	40.00	0.01	0.00	0.02	3.45	78	71
27904	34.50	34.80	33.00	33.56	0.15	-0.13	40.00	-0.02	0.00	-0.03	-7.39	67	82
27954	34.50	34.50	33.70	34.14	0.08	-0.12	40.00	0.04	0.00	0.06	13.00	88	61
28004	34.60	34.80	33.60	34.24	0.10	-0.12	40.00	0.02	0.00	-0.02	5.33	80	69
28054	34.90	35.60	34.20	35.32	0.07	-0.09	40.00	0.02	0.00	0.01	8.28	83	66
28104	34.80	35.20	34.10	34.92	0.07	-0.10	40.00	0.03	0.00	0.01	11.06	86	63
28154	34.70	35.50	34.00	35.22	0.07	-0.10	40.00	0.03	0.00	-0.01	8.98	83	66
28204	34.70	35.50	34.00	35.22	0.07	-0.10	40.00	0.03	0.00	0.00	8.98	83	66
28254	34.70	35.20	33.80	34.74	0.09	-0.11	40.00	0.02	0.00	-0.01	5.33	80	69
28304	35.20	35.70	34.20	35.12	0.10	-0.10	40.00	-0.00	0.00	-0.02	-0.87	74	75
28354	35.30	37.00	34.40	36.52	0.09	-0.07	40.00	-0.02	0.00	-0.02	-7.11	67	82
28404	35.30	36.80	35.00	36.75	0.03	-0.07	40.00	0.04	0.00	0.06	12.28	87	62
28454	35.90	36.30	34.60	35.32	0.13	-0.09	40.00	-0.04	0.00	-0.07	-12.73	62	87
28504	36.10	36.50	35.00	35.79	0.11	-0.08	40.00	-0.03	0.00	0.01	-9.03	65	84
28554	36.10	36.40	35.20	35.92	0.09	-0.08	40.00	-0.01	0.00	0.02	-2.96	72	77
28604	36.10	36.70	35.40	36.41	0.07	-0.07	40.00	0.00	0.00	0.01	0.64	75	74
28654	35.40	36.80	34.90	36.65	0.05	-0.07	40.00	0.02	0.00	0.02	5.95	80	69
28704	35.20	37.10	35.20	37.10	0.00	-0.06	40.00	0.06	0.00	0.04	20.30	95	54
28754	35.50	37.20	35.40	37.19	0.01	-0.06	40.00	0.05	0.00	-0.01	16.14	91	58
28804	36.60	38.50	35.20	37.30	0.14	-0.05	40.00	-0.09	0.00	-0.13	-30.08	44	105
28854	36.80	39.30	36.10	38.99	0.07	-0.02	40.00	-0.05	0.00	0.04	-17.41	57	92
28904	40.20	41.80	35.80	31.12	0.44	-0.18	40.00	-0.26	0.00	-0.21	-91.81	0	127
28954	39.60	42.80	38.00	41.07	0.16	0.02	40.00	-0.18	0.00	0.08	-63.46	11	127
29004	42.20	45.00	38.90	37.94	0.33	-0.04	40.00	-0.29	0.00	-0.11	-101.10	0	127
29054	42.50	45.20	39.70	39.92	0.28	-0.00	40.00	-0.28	0.00	0.01	-97.46	0	127
29104	44.00	45.00	39.90	34.76	0.41	-0.10	40.00	-0.31	0.00	-0.03	-106.80	0	127
29154	43.40	46.90	40.30	40.32	0.31	0.01	40.00	-0.32	0.00	-0.01	-110.73	0	127
29204	43.60	45.60	40.60	39.57	0.30	-0.01	40.00	-0.29	0.00	0.03	-101.97	0	127
29254	44.40	45.10	41.70	40.17	0.27	0.00	40.00	-0.27	0.00	0.02	-95.72	0	127
29304	43.30	45.20	41.40	42.65	0.19	0.05	40.00	-0.24	0.00	0.03	-85.04	0	127
29354	44.10	45.50	41.00	39.11	0.31	-0.02	40.00	-0.29	0.00	-0.05	-102.30	0	127
29404	43.50	46.00	42.10	44.56	0.14	0.09	40.00	-0.23	0.00	0.06	-80.94	0	127
29454	42.60	45.70	42.00	45.23	0.08	0.10	40.00	-0.18	0.00	0.05	-64.58	10	127
29504	42.60	45.70	43.10	45.51	-0.05	0.11	40.00	-0.06	0.00	0.12	-21.10	53	96
29554	44.30	47.10	43.80	47.09	-0.01	0.14	40.00	-0.13	0.00	-0.07	-46.15	28	121
29604	45.70	49.90	49.20	41.22	-0.35	0.02	40.00	0.33	0.00	0.46	113.93	127	0
29654	46.60	51.10	51.30	36.58	-0.47	-0.07	40.00	0.54	0.00	0.21	188.42	127	0
29704	48.60	49.80	51.00	45.43	-0.24	0.11	40.00	0.13	0.00	-0.41	46.01	121	28
29754	44.40	48.10	49.00	34.89	-0.46	-0.10	40.00	0.56	0.00	0.43	196.74	127	0
29804	43.50	46.40	47.00	38.33	-0.35	-0.03	40.00	0.38	0.00	-0.18	134.17	127	0
29854	42.40	44.60	43.40	43.88	-0.10	0.08	40.00	0.02	0.00	-0.36	7.84	82	67
29904	41.30	43.50	42.80	41.94	-0.15	0.04	40.00	0.11	0.00	0.09	38.89	113	36
29954	40.40	43.20	40.50	43.19	-0.01	0.06	40.00	-0.05	0.00	-0.16	-18.85	56	93
30004	39.00	41.50	39.10	41.49	-0.01	0.03	40.00	-0.02	0.00	0.03	-6.95	68	81
30054	39.00	40.20	39.80	39.78	-0.08	-0.00	40.00	0.08	0.00	0.10	29.52	104	45
30104	37.80	39.90	38.20	39.80	-0.04	-0.00	40.00	0.04	0.00	-0.04	15.43	90	59
30154	37.60	40.00	38.50	39.48	-0.09	-0.01	40.00	0.10	0.00	0.06	35.17	110	39
30204	36.60	38.80	37.90	37.75	-0.13	-0.04	40.00	0.17	0.00	0.07	61.24	127	13
30254	36.50	38.30	36.90	38.20	-0.04	-0.04	40.00	0.08	0.00	-0.10	26.60	101	48
30304	35.30	38.60	37.00	36.84	-0.17	-0.06	40.00	0.23	0.00	0.16	81.61	127	0
30354	36.00	37.00	36.80	36.62	-0.08	-0.07	40.00	0.15	0.00	-0.09	51.69	126	23
30404	35.40	36.80	35.90	36.65	-0.05	-0.07	40.00	0.12	0.00	-0.03	40.95	115	34
30454	34.00	36.10	35.20	35.27	-0.12	-0.09	40.00	0.21	0.00	0.10	75.14	127	0
30504	34.80	35.50	34.60	35.48	0.02	-0.09	40.00	0.07	0.00	-0.14	24.66	99	50
30554	34.30	35.80	34.00	35.75	0.03	-0.09	40.00	0.06	0.00	-0.02	19.27	94	55
30604	34.90	36.30	34.20	35.92	0.08	-0.08	40.00	0.00	0.00	-0.05	0.53	75	74
30654	34.30	36.40	34.70	36.31	-0.04	-0.07	40.00	0.11	0.00	0.11	39.86	114	35
30704	35.60	36.50	34.50	35.79	0.11	-0.08	40.00	-0.03	0.00	-0.14	-9.03	65	84
30754	35.40	37.40	35.10	37.35	0.03	-0.05	40.00	0.02	0.00	0.05	8.08	83	66
30804	36.50	37.90	35.40	37.16	0.11	-0.06	40.00	-0.05	0.00	-0.08	-18.64	56	93
30854	35.80	38.50	35.80	38.50	0.00	-0.03	40.00	0.03	0.00	0.08	10.50	85	64
30904	36.40	38.40	35.20	37.51	0.12	-0.05	40.00	-0.07	0.00	-0.10	-24.59	50	99
30954	36.00	39.00	35.80	38.10	0.12	-0.04	40.00	-0.08	0.00	-0.01	-28.69	46	103
31004	38.20	39.10	36.60	37.52	0.16	-0.05	40.00	-0.11	0.00	-0.03	-38.61	36	113
31054	37.50	39.20	36.50	38.57	0.10	-0.03	40.00	-0.07	0.00	0.04	-24.97	50	99
31104	37.80	40.00	36.80	39.35	0.10	-0.01	40.00	-0.09	0.00	-0.02	-30.48	44	105
31154	38.60	40.30	37.90	39.98	0.07	-0.00	40.00	-0.07	0.00	0.02	-24.36	50	99
31204	37.10	39.90	37.70	39.67	-0.06	-0.01	40.00	0.07	0.00	0.14	23.33	98	51
31254	38.40	40.40	37.40	39.75	0.10	-0.01	40.00	-0.09	0.00	-0.16	-33.24	41	108
31304	38.00	40.10	37.10	39.57	0.09	-0.01	40.00	-0.08	0.00	0.01	-28.52	46	103
31354	38.60	39.90	37.20	38.65	0.14	-0.03	40.00	-0.11	0.00	-0.03	-39.57	35	114
31404	38.80	40.30	37.70	39.52	0.11	-0.01	40.00	-0.10	0.00	0.01	-35.11	39	110
31454	39.00	41.10	38.30	40.77	0.07	0.02	40.00	-0.09	0.00	0.01	-29.91	45	104
31504	39.00	40.70	38.10	40.17	0.09	0.00	40.00	-0.09	0.00	-0.01	-32.67	42	107
31554	39.40	41.00	37.20	37.94	0.22	-0.04	40.00	-0.18	0.00	-0.09	-62.60	12	127
31604	38.10	40.50	38.50	40.39	-0.04	0.01	40.00	0.03	0.00	0.21	11.24	86	63
31654	37.80	40.50	38.10	40.44	-0.03	0.01	40.00	0.02	0.00	-0.01	7.42	82	67
31704	38.40	40.70	39.00	40.46	-0.06	0.01	40.00	0.05	0.00	0.03	17.77	92	57
31754	39.00	40.30	38.50	40.14	0.05	0.00	40.00	-0.05	0.00	-0.10	-18.45	56	93
31804	39.20	40.10	38.00	39.17	0.12	-0.02	40.00	-0.10	0.00	-0.05	-36.21	38	111
31854	38.80	41.20	37.70	40.40	0.11	0.01	40.00	-0.12	0.00	-0.01	-41.29	33	116
31904	38.30	40.20	38.20	40.19	0.01	0.00	40.00	-0.01	0.00	0.10	-4.85	70	79
31954	37.30	39.90	37.90	39.67	-0.06	-0.01	40.00	0.07	0.00	0.08	23.33	98	51
32004	35.90	37.30	38.10	34.52	-0.22	-0.11	40.00	0.33	0.00	0.26	115.37	127	0
32054	34.70	36.90	36.80	34.38	-0.21	-0.11	40.00	0.32	0.00	-0.01	112.84	127	0
32104	33.30	35.10	35.80	31.77	-0.25	-0.16	40.00	0.41	0.00	0.09	145.08	127	0
32154	31.90	33.60	34.40	30.42	-0.25	-0.19	40.00	0.44	0.00	0.03	154.59	127	0
32204	30.60	30.90	32.30	29.49	-0.17	-0.21	40.00	0.38	0.00	-0.06	133.06	127	0
32254	29.20	30.30	29.60	30.22	-0.04	-0.20	40.00	0.24	0.00	-0.14	82.45	127	0
32304	28.50	27.50	28.50	27.50	0.00	-0.25	40.00	0.25	0.00	0.01	87.50	127	0
32354	27.30	26.90	28.10	26.62	-0.08	-0.27	40.00	0.35	0.00	0.10	121.65	127	0
32404	25.90	26.00	26.40	25.89	-0.05	-0.28	40.00	0.33	0.00	-0.02	116.24	127	0
32454	25.10	25.10	25.00	25.10	0.01	-0.30	40.00	0.29	0.00	-0.04	100.83	127	0
32504	25.30	25.10	24.60	24.90	0.07	-0.30	40.00	0.23	0.00	-0.06	81.20	127	0
32554	25.40	25.10	24.60	24.90	0.07	-0.30	40.00	0.23	0.00	0.00	81.20	127	0
32604	25.40	25.60	24.20	25.01	0.12	-0.30	40.00	0.18	0.00	-0.05	62.94	127	12
32654	26.30	26.10	24.60	24.91	0.17	-0.30	40.00	0.13	0.00	-0.05	46.12	121	28
32704	27.90	27.80	25.30	24.97	0.26	-0.30	40.00	0.04	0.00	-0.09	14.23	89	60
32754	30.40	30.70	26.80	25.09	0.36	-0.30	40.00	-0.06	0.00	-0.10	-21.66	53	96
32804	33.20	33.50	28.80	24.94	0.44	-0.30	40.00	-0.14	0.00	-0.08	-48.56	26	123
32854	35.70	36.40	30.70	25.01	0.50	-0.30	40.00	-0.20	0.00	-0.06	-70.08	4	127
32904	37.10	39.10	33.60	32.30	0.35	-0.15	40.00	-0.20	0.00	0.00	-68.61	6	127
32954	39.10	40.20	34.30	28.39	0.48	-0.23	40.00	-0.25	0.00	-0.05	-86.76	0	127
33004	39.10	40.20	34.30	28.39	0.48	-0.23	40.00	-0.25	0.00	0.00	-86.76	0	127
33054	39.20	41.50	36.00	35.34	0.32	-0.09	40.00	-0.23	0.00	0.02	-79.36	0	127
33104	39.60	42.00	35.30	31.66	0.43	-0.17	40.00	-0.26	0.00	-0.04	-92.11	0	127
33154	38.80	40.30	36.00	35.60	0.28	-0.09	40.00	-0.19	0.00	0.07	-67.17	7	127
33204	39.50	40.10	36.10	33.47	0.34	-0.13	40.00	-0.21	0.00	-0.02	-73.30	1	127
33254	39.40	41.50	35.80	33.92	0.36	-0.12	40.00	-0.24	0.00	-0.03	-83.46	0	127
33304	38.00	40.00	37.40	39.77	0.06	-0.00	40.00	-0.06	0.00	0.18	-19.36	55	94
33354	38.20	39.50	35.80	36.03	0.24	-0.08	40.00	-0.16	0.00	-0.11	-56.22	18	127
33404	37.80	39.90	35.80	36.40	0.24	-0.07	40.00	-0.17	0.00	-0.01	-58.77	16	127
33454	37.70	40.00	37.10	39.77	0.06	-0.00	40.00	-0.06	0.00	0.11	-19.36	55	94
33504	37.90	40.40	37.10	40.16	0.06	0.00	40.00	-0.06	0.00	-0.01	-22.14	52	97
33554	37.50	39.60	38.40	39.08	-0.09	-0.02	40.00	0.11	0.00	0.17	37.93	112	37
33604	37.80	40.30	38.40	39.77	-0.09	-0.00	40.00	0.09	0.00	-0.01	33.09	108	41
33654	37.80	40.30	38.90	39.52	-0.11	-0.01	40.00	0.12	0.00	0.03	41.89	116	33
33704	37.70	39.80	38.30	39.57	-0.06	-0.01	40.00	0.07	0.00	-0.05	24.03	99	50
33754	36.20	39.50	38.70	35.76	-0.25	-0.08	40.00	0.33	0.00	0.27	117.20	127	0
33804	35.90	39.10	36.90	38.47	-0.10	-0.03	40.00	0.13	0.00	-0.20	45.71	120	29
33854	35.70	36.90	36.30	36.68	-0.06	-0.07	40.00	0.13	0.00	-0.00	44.21	119	30
33904	34.60	36.70	35.80	35.85	-0.12	-0.08	40.00	0.20	0.00	0.08	71.04	127	3
33954	35.00	36.10	33.70	35.12	0.13	-0.10	40.00	-0.03	0.00	-0.24	-11.37	63	86
34004	34.90	36.60	33.40	35.29	0.15	-0.09	40.00	-0.06	0.00	-0.02	-19.54	55	94
34054	34.90	36.60	33.40	35.29	0.15	-0.09	40.00	-0.06	0.00	0.00	-19.54	55	94
34104	35.10	37.50	34.60	37.35	0.05	-0.05	40.00	0.00	0.00	0.06	1.07	76	73
34154	35.10	37.50	34.60	37.35	0.05	-0.05	40.00	0.00	0.00	0.00	1.07	76	73
34204	35.90	37.70	34.50	36.52	0.14	-0.07	40.00	-0.07	0.00	-0.07	-24.65	50	99
34254	36.50	37.90	34.80	36.17	0.17	-0.08	40.00	-0.09	0.00	-0.02	-32.71	42	107
34304	36.50	38.90	34.70	36.92	0.18	-0.06	40.00	-0.12	0.00	-0.02	-41.45	33	116
34354	38.10	40.30	35.50	36.19	0.26	-0.08	40.00	-0.18	0.00	-0.07	-64.36	10	127
34404	37.70	39.90	36.70	39.26	0.10	-0.01	40.00	-0.09	0.00	0.10	-29.79	45	104
34454	38.30	41.10	36.80	39.63	0.15	-0.01	40.00	-0.14	0.00	-0.06	-49.92	25	124
34504	38.10	40.70	37.10	40.04	0.10	0.00	40.00	-0.10	0.00	0.04	-35.30	39	110
34554	39.00	41.20	36.70	37.86	0.23	-0.04	40.00	-0.19	0.00	-0.09	-65.51	9	127
34604	39.00	41.20	36.70	37.86	0.23	-0.04	40.00	-0.19	0.00	0.00	-65.51	9	127
34654	39.00	41.50	38.40	41.26	0.06	0.03	40.00	-0.09	0.00	0.10	-29.80	45	104
34704	39.60	41.10	38.50	40.30	0.11	0.01	40.00	-0.12	0.00	-0.03	-40.60	34	115
34754	38.80	40.90	39.30	40.73	-0.05	0.01	40.00	0.04	0.00	0.15	12.37	87	62
34804	39.10	41.00	38.30	40.57	0.08	0.01	40.00	-0.09	0.00	-0.13	-32.02	42	107
34854	39.20	40.80	39.00	40.77	0.02	0.02	40.00	-0.04	0.00	0.06	-12.41	62	87
34904	37.70	41.70	39.70	39.10	-0.20	-0.02	40.00	0.22	0.00	0.25	76.27	127	0
34954	38.70	40.50	38.80	40.49	-0.01	0.01	40.00	0.00	0.00	-0.22	0.05	75	74
35004	37.60	39.50	38.00	39.40	-0.04	-0.01	40.00	0.05	0.00	0.05	18.22	93	56
35054	36.60	38.70	38.80	35.81	-0.22	-0.08	40.00	0.30	0.00	0.25	106.30	127	0
35104	35.90	38.00	37.10	37.12	-0.12	-0.06	40.00	0.18	0.00	-0.13	62.15	127	12
35154	35.80	37.20	35.20	36.98	0.06	-0.06	40.00	0.00	0.00	-0.18	0.12	75	74
35204	33.80	36.30	34.80	35.71	-0.10	-0.09	40.00	0.19	0.00	0.19	65.00	127	10
35254	33.80	36.00	33.50	35.95	0.03	-0.08	40.00	0.05	0.00	-0.13	17.87	92	57
35304	33.10	34.50	33.50	34.45	0.03	-0.11	40.00	0.08	0.00	0.03	28.35	103	46

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Front Center Rear Steer

14.20 13.00 15.30 -0.11

14.20 13.80 15.20 -0.10

14.30 13.00 15.20 -0.08

WallE3_WallTrackTuning_V5.ino: TrackLeftWallOffset: Start tracking offset of 40.0 cm with Kp/Ki/Kd = 350.00 0.00 0.00

Msec LF LC LR Steer Deg Cos LCCorr Set Err SpinDeg

WallE3_WallTrackTuning_V5.ino: In TrackLeftWallOffset: before while with errcode = NO_ANOMALIES

Msec LF LC LR LCCorr Steer Tweak OffCm Err LastI LastD Out Lspd Rspd

26504 14.20 13.30 15.30 13.04 -0.11 -0.54 40.00 0.65 0.00 0.65 227.21 127 0

26554 14.10 12.80 15.20 12.55 -0.11 -0.55 40.00 0.66 0.00 0.01 230.64 127 0

26604 14.40 13.40 15.30 13.22 -0.09 -0.54 40.00 0.63 0.00 -0.03 218.93 127 0

26654 14.60 13.30 15.20 13.22 -0.06 -0.54 40.00 0.60 0.00 -0.03 208.44 127 0

26704 15.00 13.50 14.90 13.50 0.01 -0.53 40.00 0.52 0.00 -0.08 182.02 127 0

26754 15.20 13.70 14.90 13.68 0.03 -0.53 40.00 0.50 0.00 -0.02 173.74 127 0

26804 16.30 14.80 14.80 14.27 0.15 -0.51 40.00 0.36 0.00 -0.13 127.60 127 0

26854 18.20 15.60 15.00 13.28 0.32 -0.53 40.00 0.21 0.00 -0.15 75.02 127 0

26904 20.40 15.60 15.00 13.28 0.32 -0.53 40.00 0.21 0.00 0.00 75.02 127 0

26954 20.40 17.30 16.10 13.04 0.43 -0.54 40.00 0.11 0.00 -0.11 38.22 113 36

27004 23.00 19.90 18.00 13.67 0.50 -0.53 40.00 0.03 0.00 -0.08 9.28 84 65

27054 26.70 24.40 20.20 13.25 0.65 -0.53 40.00 -0.12 0.00 -0.14 -40.28 34 115

27104 29.90 28.40 23.10 14.63 0.68 -0.51 40.00 -0.17 0.00 -0.06 -60.42 14 127

27154 33.70 31.40 25.90 13.35 0.78 -0.53 40.00 -0.25 0.00 -0.07 -86.48 0 127

27204 35.20 35.30 29.00 20.18 0.62 -0.40 40.00 -0.22 0.00 0.02 -78.24 0 127

27254 37.00 36.00 30.30 18.88 0.67 -0.42 40.00 -0.25 0.00 -0.02 -86.67 0 127

27304 37.00 36.90 31.90 25.00 0.51 -0.30 40.00 -0.21 0.00 0.04 -73.49 1 127

27354 37.00 36.90 31.90 25.00 0.51 -0.30 40.00 -0.21 0.00 0.00 -73.49 1 127

27404 37.70 37.10 31.60 21.56 0.61 -0.37 40.00 -0.24 0.00 -0.03 -84.42 0 127

27454 36.60 37.30 32.20 27.77 0.44 -0.24 40.00 -0.20 0.00 0.05 -68.36 6 127

27504 35.30 35.60 31.40 28.15 0.39 -0.24 40.00 -0.15 0.00 0.04 -53.54 21 127

27554 35.20 35.30 32.10 30.35 0.31 -0.19 40.00 -0.12 0.00 0.04 -40.92 34 115

27604 34.50 34.00 31.60 29.77 0.29 -0.20 40.00 -0.09 0.00 0.03 -29.88 45 104

27654 33.80 34.10 32.00 32.37 0.18 -0.15 40.00 -0.03 0.00 0.06 -9.56 65 84

27704 34.00 33.80 32.50 32.59 0.15 -0.15 40.00 -0.00 0.00 0.03 -0.64 74 75

27754 34.30 34.60 32.50 33.36 0.15 -0.13 40.00 -0.02 0.00 -0.02 -6.04 68 81

27804 34.30 34.60 32.90 33.52 0.14 -0.13 40.00 -0.01 0.00 0.01 -3.63 71 78

27854 34.10 34.30 32.90 33.51 0.12 -0.13 40.00 0.01 0.00 0.02 3.45 78 71

27904 34.50 34.80 33.00 33.56 0.15 -0.13 40.00 -0.02 0.00 -0.03 -7.39 67 82

27954 34.50 34.50 33.70 34.14 0.08 -0.12 40.00 0.04 0.00 0.06 13.00 88 61

28004 34.60 34.80 33.60 34.24 0.10 -0.12 40.00 0.02 0.00 -0.02 5.33 80 69

28054 34.90 35.60 34.20 35.32 0.07 -0.09 40.00 0.02 0.00 0.01 8.28 83 66

28104 34.80 35.20 34.10 34.92 0.07 -0.10 40.00 0.03 0.00 0.01 11.06 86 63

28154 34.70 35.50 34.00 35.22 0.07 -0.10 40.00 0.03 0.00 -0.01 8.98 83 66

28204 34.70 35.50 34.00 35.22 0.07 -0.10 40.00 0.03 0.00 0.00 8.98 83 66

28254 34.70 35.20 33.80 34.74 0.09 -0.11 40.00 0.02 0.00 -0.01 5.33 80 69

28304 35.20 35.70 34.20 35.12 0.10 -0.10 40.00 -0.00 0.00 -0.02 -0.87 74 75

28354 35.30 37.00 34.40 36.52 0.09 -0.07 40.00 -0.02 0.00 -0.02 -7.11 67 82

28404 35.30 36.80 35.00 36.75 0.03 -0.07 40.00 0.04 0.00 0.06 12.28 87 62

28454 35.90 36.30 34.60 35.32 0.13 -0.09 40.00 -0.04 0.00 -0.07 -12.73 62 87

28504 36.10 36.50 35.00 35.79 0.11 -0.08 40.00 -0.03 0.00 0.01 -9.03 65 84

28554 36.10 36.40 35.20 35.92 0.09 -0.08 40.00 -0.01 0.00 0.02 -2.96 72 77

28604 36.10 36.70 35.40 36.41 0.07 -0.07 40.00 0.00 0.00 0.01 0.64 75 74

28654 35.40 36.80 34.90 36.65 0.05 -0.07 40.00 0.02 0.00 0.02 5.95 80 69

28704 35.20 37.10 35.20 37.10 0.00 -0.06 40.00 0.06 0.00 0.04 20.30 95 54

28754 35.50 37.20 35.40 37.19 0.01 -0.06 40.00 0.05 0.00 -0.01 16.14 91 58

28804 36.60 38.50 35.20 37.30 0.14 -0.05 40.00 -0.09 0.00 -0.13 -30.08 44 105

28854 36.80 39.30 36.10 38.99 0.07 -0.02 40.00 -0.05 0.00 0.04 -17.41 57 92

28904 40.20 41.80 35.80 31.12 0.44 -0.18 40.00 -0.26 0.00 -0.21 -91.81 0 127

28954 39.60 42.80 38.00 41.07 0.16 0.02 40.00 -0.18 0.00 0.08 -63.46 11 127

29004 42.20 45.00 38.90 37.94 0.33 -0.04 40.00 -0.29 0.00 -0.11 -101.10 0 127

29054 42.50 45.20 39.70 39.92 0.28 -0.00 40.00 -0.28 0.00 0.01 -97.46 0 127

29104 44.00 45.00 39.90 34.76 0.41 -0.10 40.00 -0.31 0.00 -0.03 -106.80 0 127

29154 43.40 46.90 40.30 40.32 0.31 0.01 40.00 -0.32 0.00 -0.01 -110.73 0 127

29204 43.60 45.60 40.60 39.57 0.30 -0.01 40.00 -0.29 0.00 0.03 -101.97 0 127

29254 44.40 45.10 41.70 40.17 0.27 0.00 40.00 -0.27 0.00 0.02 -95.72 0 127

29304 43.30 45.20 41.40 42.65 0.19 0.05 40.00 -0.24 0.00 0.03 -85.04 0 127

29354 44.10 45.50 41.00 39.11 0.31 -0.02 40.00 -0.29 0.00 -0.05 -102.30 0 127

29404 43.50 46.00 42.10 44.56 0.14 0.09 40.00 -0.23 0.00 0.06 -80.94 0 127

29454 42.60 45.70 42.00 45.23 0.08 0.10 40.00 -0.18 0.00 0.05 -64.58 10 127

29504 42.60 45.70 43.10 45.51 -0.05 0.11 40.00 -0.06 0.00 0.12 -21.10 53 96

29554 44.30 47.10 43.80 47.09 -0.01 0.14 40.00 -0.13 0.00 -0.07 -46.15 28 121

29604 45.70 49.90 49.20 41.22 -0.35 0.02 40.00 0.33 0.00 0.46 113.93 127 0

29654 46.60 51.10 51.30 36.58 -0.47 -0.07 40.00 0.54 0.00 0.21 188.42 127 0

29704 48.60 49.80 51.00 45.43 -0.24 0.11 40.00 0.13 0.00 -0.41 46.01 121 28

29754 44.40 48.10 49.00 34.89 -0.46 -0.10 40.00 0.56 0.00 0.43 196.74 127 0

29804 43.50 46.40 47.00 38.33 -0.35 -0.03 40.00 0.38 0.00 -0.18 134.17 127 0

29854 42.40 44.60 43.40 43.88 -0.10 0.08 40.00 0.02 0.00 -0.36 7.84 82 67

29904 41.30 43.50 42.80 41.94 -0.15 0.04 40.00 0.11 0.00 0.09 38.89 113 36

29954 40.40 43.20 40.50 43.19 -0.01 0.06 40.00 -0.05 0.00 -0.16 -18.85 56 93

30004 39.00 41.50 39.10 41.49 -0.01 0.03 40.00 -0.02 0.00 0.03 -6.95 68 81

30054 39.00 40.20 39.80 39.78 -0.08 -0.00 40.00 0.08 0.00 0.10 29.52 104 45

30104 37.80 39.90 38.20 39.80 -0.04 -0.00 40.00 0.04 0.00 -0.04 15.43 90 59

30154 37.60 40.00 38.50 39.48 -0.09 -0.01 40.00 0.10 0.00 0.06 35.17 110 39

30204 36.60 38.80 37.90 37.75 -0.13 -0.04 40.00 0.17 0.00 0.07 61.24 127 13

30254 36.50 38.30 36.90 38.20 -0.04 -0.04 40.00 0.08 0.00 -0.10 26.60 101 48

30304 35.30 38.60 37.00 36.84 -0.17 -0.06 40.00 0.23 0.00 0.16 81.61 127 0

30354 36.00 37.00 36.80 36.62 -0.08 -0.07 40.00 0.15 0.00 -0.09 51.69 126 23

30404 35.40 36.80 35.90 36.65 -0.05 -0.07 40.00 0.12 0.00 -0.03 40.95 115 34

30454 34.00 36.10 35.20 35.27 -0.12 -0.09 40.00 0.21 0.00 0.10 75.14 127 0

30504 34.80 35.50 34.60 35.48 0.02 -0.09 40.00 0.07 0.00 -0.14 24.66 99 50

30554 34.30 35.80 34.00 35.75 0.03 -0.09 40.00 0.06 0.00 -0.02 19.27 94 55

30604 34.90 36.30 34.20 35.92 0.08 -0.08 40.00 0.00 0.00 -0.05 0.53 75 74

30654 34.30 36.40 34.70 36.31 -0.04 -0.07 40.00 0.11 0.00 0.11 39.86 114 35

30704 35.60 36.50 34.50 35.79 0.11 -0.08 40.00 -0.03 0.00 -0.14 -9.03 65 84

30754 35.40 37.40 35.10 37.35 0.03 -0.05 40.00 0.02 0.00 0.05 8.08 83 66

30804 36.50 37.90 35.40 37.16 0.11 -0.06 40.00 -0.05 0.00 -0.08 -18.64 56 93

30854 35.80 38.50 35.80 38.50 0.00 -0.03 40.00 0.03 0.00 0.08 10.50 85 64

30904 36.40 38.40 35.20 37.51 0.12 -0.05 40.00 -0.07 0.00 -0.10 -24.59 50 99

30954 36.00 39.00 35.80 38.10 0.12 -0.04 40.00 -0.08 0.00 -0.01 -28.69 46 103

31004 38.20 39.10 36.60 37.52 0.16 -0.05 40.00 -0.11 0.00 -0.03 -38.61 36 113

31054 37.50 39.20 36.50 38.57 0.10 -0.03 40.00 -0.07 0.00 0.04 -24.97 50 99

31104 37.80 40.00 36.80 39.35 0.10 -0.01 40.00 -0.09 0.00 -0.02 -30.48 44 105

31154 38.60 40.30 37.90 39.98 0.07 -0.00 40.00 -0.07 0.00 0.02 -24.36 50 99

31204 37.10 39.90 37.70 39.67 -0.06 -0.01 40.00 0.07 0.00 0.14 23.33 98 51

31254 38.40 40.40 37.40 39.75 0.10 -0.01 40.00 -0.09 0.00 -0.16 -33.24 41 108

31304 38.00 40.10 37.10 39.57 0.09 -0.01 40.00 -0.08 0.00 0.01 -28.52 46 103

31354 38.60 39.90 37.20 38.65 0.14 -0.03 40.00 -0.11 0.00 -0.03 -39.57 35 114

31404 38.80 40.30 37.70 39.52 0.11 -0.01 40.00 -0.10 0.00 0.01 -35.11 39 110

31454 39.00 41.10 38.30 40.77 0.07 0.02 40.00 -0.09 0.00 0.01 -29.91 45 104

31504 39.00 40.70 38.10 40.17 0.09 0.00 40.00 -0.09 0.00 -0.01 -32.67 42 107

31554 39.40 41.00 37.20 37.94 0.22 -0.04 40.00 -0.18 0.00 -0.09 -62.60 12 127

31604 38.10 40.50 38.50 40.39 -0.04 0.01 40.00 0.03 0.00 0.21 11.24 86 63

31654 37.80 40.50 38.10 40.44 -0.03 0.01 40.00 0.02 0.00 -0.01 7.42 82 67

31704 38.40 40.70 39.00 40.46 -0.06 0.01 40.00 0.05 0.00 0.03 17.77 92 57

31754 39.00 40.30 38.50 40.14 0.05 0.00 40.00 -0.05 0.00 -0.10 -18.45 56 93

31804 39.20 40.10 38.00 39.17 0.12 -0.02 40.00 -0.10 0.00 -0.05 -36.21 38 111

31854 38.80 41.20 37.70 40.40 0.11 0.01 40.00 -0.12 0.00 -0.01 -41.29 33 116

31904 38.30 40.20 38.20 40.19 0.01 0.00 40.00 -0.01 0.00 0.10 -4.85 70 79

31954 37.30 39.90 37.90 39.67 -0.06 -0.01 40.00 0.07 0.00 0.08 23.33 98 51

32004 35.90 37.30 38.10 34.52 -0.22 -0.11 40.00 0.33 0.00 0.26 115.37 127 0

32054 34.70 36.90 36.80 34.38 -0.21 -0.11 40.00 0.32 0.00 -0.01 112.84 127 0

32104 33.30 35.10 35.80 31.77 -0.25 -0.16 40.00 0.41 0.00 0.09 145.08 127 0

32154 31.90 33.60 34.40 30.42 -0.25 -0.19 40.00 0.44 0.00 0.03 154.59 127 0

32204 30.60 30.90 32.30 29.49 -0.17 -0.21 40.00 0.38 0.00 -0.06 133.06 127 0

32254 29.20 30.30 29.60 30.22 -0.04 -0.20 40.00 0.24 0.00 -0.14 82.45 127 0

32304 28.50 27.50 28.50 27.50 0.00 -0.25 40.00 0.25 0.00 0.01 87.50 127 0

32354 27.30 26.90 28.10 26.62 -0.08 -0.27 40.00 0.35 0.00 0.10 121.65 127 0

32404 25.90 26.00 26.40 25.89 -0.05 -0.28 40.00 0.33 0.00 -0.02 116.24 127 0

32454 25.10 25.10 25.00 25.10 0.01 -0.30 40.00 0.29 0.00 -0.04 100.83 127 0

32504 25.30 25.10 24.60 24.90 0.07 -0.30 40.00 0.23 0.00 -0.06 81.20 127 0

32554 25.40 25.10 24.60 24.90 0.07 -0.30 40.00 0.23 0.00 0.00 81.20 127 0

32604 25.40 25.60 24.20 25.01 0.12 -0.30 40.00 0.18 0.00 -0.05 62.94 127 12

32654 26.30 26.10 24.60 24.91 0.17 -0.30 40.00 0.13 0.00 -0.05 46.12 121 28

32704 27.90 27.80 25.30 24.97 0.26 -0.30 40.00 0.04 0.00 -0.09 14.23 89 60

32754 30.40 30.70 26.80 25.09 0.36 -0.30 40.00 -0.06 0.00 -0.10 -21.66 53 96

32804 33.20 33.50 28.80 24.94 0.44 -0.30 40.00 -0.14 0.00 -0.08 -48.56 26 123

32854 35.70 36.40 30.70 25.01 0.50 -0.30 40.00 -0.20 0.00 -0.06 -70.08 4 127

32904 37.10 39.10 33.60 32.30 0.35 -0.15 40.00 -0.20 0.00 0.00 -68.61 6 127

32954 39.10 40.20 34.30 28.39 0.48 -0.23 40.00 -0.25 0.00 -0.05 -86.76 0 127

33004 39.10 40.20 34.30 28.39 0.48 -0.23 40.00 -0.25 0.00 0.00 -86.76 0 127

33054 39.20 41.50 36.00 35.34 0.32 -0.09 40.00 -0.23 0.00 0.02 -79.36 0 127

33104 39.60 42.00 35.30 31.66 0.43 -0.17 40.00 -0.26 0.00 -0.04 -92.11 0 127

33154 38.80 40.30 36.00 35.60 0.28 -0.09 40.00 -0.19 0.00 0.07 -67.17 7 127

33204 39.50 40.10 36.10 33.47 0.34 -0.13 40.00 -0.21 0.00 -0.02 -73.30 1 127

33254 39.40 41.50 35.80 33.92 0.36 -0.12 40.00 -0.24 0.00 -0.03 -83.46 0 127

33304 38.00 40.00 37.40 39.77 0.06 -0.00 40.00 -0.06 0.00 0.18 -19.36 55 94

33354 38.20 39.50 35.80 36.03 0.24 -0.08 40.00 -0.16 0.00 -0.11 -56.22 18 127

33404 37.80 39.90 35.80 36.40 0.24 -0.07 40.00 -0.17 0.00 -0.01 -58.77 16 127

33454 37.70 40.00 37.10 39.77 0.06 -0.00 40.00 -0.06 0.00 0.11 -19.36 55 94

33504 37.90 40.40 37.10 40.16 0.06 0.00 40.00 -0.06 0.00 -0.01 -22.14 52 97

33554 37.50 39.60 38.40 39.08 -0.09 -0.02 40.00 0.11 0.00 0.17 37.93 112 37

33604 37.80 40.30 38.40 39.77 -0.09 -0.00 40.00 0.09 0.00 -0.01 33.09 108 41

33654 37.80 40.30 38.90 39.52 -0.11 -0.01 40.00 0.12 0.00 0.03 41.89 116 33

33704 37.70 39.80 38.30 39.57 -0.06 -0.01 40.00 0.07 0.00 -0.05 24.03 99 50

33754 36.20 39.50 38.70 35.76 -0.25 -0.08 40.00 0.33 0.00 0.27 117.20 127 0

33804 35.90 39.10 36.90 38.47 -0.10 -0.03 40.00 0.13 0.00 -0.20 45.71 120 29

33854 35.70 36.90 36.30 36.68 -0.06 -0.07 40.00 0.13 0.00 -0.00 44.21 119 30

33904 34.60 36.70 35.80 35.85 -0.12 -0.08 40.00 0.20 0.00 0.08 71.04 127 3

33954 35.00 36.10 33.70 35.12 0.13 -0.10 40.00 -0.03 0.00 -0.24 -11.37 63 86

34004 34.90 36.60 33.40 35.29 0.15 -0.09 40.00 -0.06 0.00 -0.02 -19.54 55 94

34054 34.90 36.60 33.40 35.29 0.15 -0.09 40.00 -0.06 0.00 0.00 -19.54 55 94

34104 35.10 37.50 34.60 37.35 0.05 -0.05 40.00 0.00 0.00 0.06 1.07 76 73

34154 35.10 37.50 34.60 37.35 0.05 -0.05 40.00 0.00 0.00 0.00 1.07 76 73

34204 35.90 37.70 34.50 36.52 0.14 -0.07 40.00 -0.07 0.00 -0.07 -24.65 50 99

34254 36.50 37.90 34.80 36.17 0.17 -0.08 40.00 -0.09 0.00 -0.02 -32.71 42 107

34304 36.50 38.90 34.70 36.92 0.18 -0.06 40.00 -0.12 0.00 -0.02 -41.45 33 116

34354 38.10 40.30 35.50 36.19 0.26 -0.08 40.00 -0.18 0.00 -0.07 -64.36 10 127

34404 37.70 39.90 36.70 39.26 0.10 -0.01 40.00 -0.09 0.00 0.10 -29.79 45 104

34454 38.30 41.10 36.80 39.63 0.15 -0.01 40.00 -0.14 0.00 -0.06 -49.92 25 124

34504 38.10 40.70 37.10 40.04 0.10 0.00 40.00 -0.10 0.00 0.04 -35.30 39 110

34554 39.00 41.20 36.70 37.86 0.23 -0.04 40.00 -0.19 0.00 -0.09 -65.51 9 127

34604 39.00 41.20 36.70 37.86 0.23 -0.04 40.00 -0.19 0.00 0.00 -65.51 9 127

34654 39.00 41.50 38.40 41.26 0.06 0.03 40.00 -0.09 0.00 0.10 -29.80 45 104

34704 39.60 41.10 38.50 40.30 0.11 0.01 40.00 -0.12 0.00 -0.03 -40.60 34 115

34754 38.80 40.90 39.30 40.73 -0.05 0.01 40.00 0.04 0.00 0.15 12.37 87 62

34804 39.10 41.00 38.30 40.57 0.08 0.01 40.00 -0.09 0.00 -0.13 -32.02 42 107

34854 39.20 40.80 39.00 40.77 0.02 0.02 40.00 -0.04 0.00 0.06 -12.41 62 87

34904 37.70 41.70 39.70 39.10 -0.20 -0.02 40.00 0.22 0.00 0.25 76.27 127 0

34954 38.70 40.50 38.80 40.49 -0.01 0.01 40.00 0.00 0.00 -0.22 0.05 75 74

35004 37.60 39.50 38.00 39.40 -0.04 -0.01 40.00 0.05 0.00 0.05 18.22 93 56

35054 36.60 38.70 38.80 35.81 -0.22 -0.08 40.00 0.30 0.00 0.25 106.30 127 0

35104 35.90 38.00 37.10 37.12 -0.12 -0.06 40.00 0.18 0.00 -0.13 62.15 127 12

35154 35.80 37.20 35.20 36.98 0.06 -0.06 40.00 0.00 0.00 -0.18 0.12 75 74

35204 33.80 36.30 34.80 35.71 -0.10 -0.09 40.00 0.19 0.00 0.19 65.00 127 10

35254 33.80 36.00 33.50 35.95 0.03 -0.08 40.00 0.05 0.00 -0.13 17.87 92 57

35304 33.10 34.50 33.50 34.45 0.03 -0.11 40.00 0.08 0.00 0.03 28.35 103 46

Black and red lines show approx location of first and second breaks, respectively

From the above it is pretty clear that PID(350,0,0) and ‘tweak’ divisor 50 does a very good job of tracking a straight, one-break or two-break wall at a defined offset distance. In addition it is pretty clear that this configuration does not require a separate ‘offset capture’ function – it does just fine all by itself. I guess I’m a little bummed out that I spent so much time ‘perfecting’ (to the degree that anything I do can be said to be ‘perfect’) the capture function.

23 July 2023 Update:

I have been trying to address the tendency of WallE3 to oscillate back and forth after navigating past the 45º break from the entrance hallway into the kitchen, and I kept getting the feeling I had already solved this problem at least once before. I searched through my older posts and found this one, which clearly shows much better performance than I was now seeing. After carefully perusing the above data, I finally figured out the difference; the above runs used a 50mSec interval, and I was currently using a 100mSec interval – oops!

I changed my current code to 50mSec, and ‘sure nuff’ WallE3’s wall tracking performance around breaks improved dramatically – yay!

This episode proves once again the value of copious documentation – you never know when you will need advice from your former self!

After changing the PID update interval to 50 vs 100 mSec, I made a few runs on my ’45º break’ wall configuration with PID = (350,0,0), (350,0,10), (350,0,20), and (350,0,30). As shown in the following three short videos, both the (350,0,10) and (350,0,20) produced better tracking performance, but the (350,0,30) was definitely inferior.

PID = (350,0,0)

PID = (350,0,10)

PID = (350,0,20)

PID = (350,0,30)

After these tests, I edited WallE3_Complete_V3 to use PID = (350,0,20) with a 50mSec interval.

Move to a Specified Distance, Revisited

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Posted 24 December, 2022

As part of the suite of tools associated with wall tracking and IR beam homing, I created a set of ‘move to specified distance’ routines using my home-grown PID algorithm as follows:

MoveToDesiredFrontDistCm (MTFD)
MoveToDesiredRearDistCm(MTRD)
MoveToDesiredLeftDistCm(MTLD)
MoveToDesiredRightDistCm(MTRD)

I saw some odd problems in my past wall-tracking exercises, so I thought it would be a good idea to go back and test these in isolation to work out any bugs. As usual, I constructed a limited part-task program for this purpose, and ran a number of tests on my desktop ‘range’. I started with the ‘MoveToDesiredFrontDistCm()’ function, as shown below:

MoveToDesiredFrontDistCm ():

bool MoveToDesiredFrontDistCm(uint16_t offsetCm, float Kp, float Ki, float Kd)
{
  //Purpose: Move forward or backward to a specified front offset distance
  // Inputs:
  //	offsetCm - int denoting desired forward distance offset
  //	Kp,Ki,Kd set at top of program (lines 85-87)
  // Outputs:
  //	Robot moves forward or backward to the desired offset, under PID control
  //Notes:
  //	04/25/21 the Kp/Ki/Kd values are much lower than prescribed by Z-N theory
  //		but I like the slower, more deliberate action.
  //  03/06/22 rev for Teensy 3.5 and PIDCalcs().
  //  05/07/22 bugfix: using the same PID values for 'fwd' and 'bkwrd' positioning means 
  //    using a minus sign here for motor speed.

  float lastError = 0;
  float lastInput = 0;
  float lastIval = 0;
  float lastDerror = 0;

  //DEBUG!!
  gl_pSerPort->printf("MoveToDesiredFrontDistCm(%d): Kp/Ki/Kd= %2.2f/%2.2f/%2.2f\n",
    offsetCm, Kp, Ki, Kd);
  //DEBUG!!

  StopBothMotors();

  //05/30/22 re-init front/back dist arrays to avoid spurious 'stuck' detection
  InitFrontDistArray();
  InitRearDistArray();

  gl_pSerPort->printf("MTFD: at start, tgt = %dcm, curr_dist = %d, front/rear var = %2.1f/%2.1f\n",
    offsetCm, GetFrontDistCm(), glFrontvar, glRearvar);

  gl_pSerPort->printf("Msec\tFdist\tTgtD\terr\tIval\tDerr\tOut\tSpeed\tFVar\tRVar\n");

  UpdateAllEnvironmentParameters();
  //AnomalyCode errcode = NO_ANOMALIES;
  AnomalyCode errcode = CheckForAnomalies();

  MsecSinceLastDistUpdate = 0; //01/08/22 not using ISR anymore
  MsecSinceLastFrontDistUpdate = 0; //added 10/02/22 to slow front LIDAR update rate

  //06/12/22 bugfix: can't have GetFrontDistCm() in while() statement - cuz it gets executed too often
  //OffsetDistVal = (double)GetFrontDistCm();
  //while (abs(GetFrontDistCm() - offsetCm) > 1 && errcode == NO_ANOMALIES)

  while (abs(glFrontCm - offsetCm) > 1 && errcode != STUCK_AHEAD && errcode != STUCK_BEHIND)
  {
    CheckForUserInput();

    if (MsecSinceLastDistUpdate >= MSEC_PER_DIST_UPDATE)
    {
      MsecSinceLastDistUpdate -= MSEC_PER_DIST_UPDATE;

      UpdateAllEnvironmentParameters();
      errcode = CheckForAnomalies();

      OffsetDistVal = (double)GetFrontDistCm();

      //gl_pSerPort->printf("MTFD: in loop, tgt = %dcm, curr_dist = %2.1f\n", offsetCm, OffsetDistVal);

      //OffsetDistOutput = PIDCalcs(OffsetDistVal, (float)offsetCm, lastError,
      //  lastInput, lastIval, lastDerror, OffsetDistKp, OffsetDistKi, OffsetDistKd);
      OffsetDistOutput = PIDCalcs((double)glFrontCm, (float)offsetCm, lastError,
        lastInput, lastIval, lastDerror, Kp, Ki, Kd);

      int16_t speed = (int16_t)OffsetDistOutput;
      //gl_pSerPort->printf("MTFD: in loop, speed = %dcm\n", speed);

      //PIDCalcs out can be negative, must handle both signs
      if (speed >= 0)
      {
        speed = (speed > MOTOR_SPEED_QTR) ? MOTOR_SPEED_QTR : speed;
        speed = (speed <= MOTOR_SPEED_OFF) ? MOTOR_SPEED_OFF : speed;
      }
      else //speed < 0
      {
        speed = (speed < -MOTOR_SPEED_QTR) ? -MOTOR_SPEED_QTR : speed;
      }

      gl_pSerPort->printf("%lu\t%d\t%d\t%2.1f\t%2.1f\t%2.1f\t%2.1f\t%d\t%2.1f\t%2.1f\n",
        millis(), glFrontCm, offsetCm, lastError, lastIval, lastDerror, OffsetDistOutput, speed, glFrontvar, glRearvar);

      //  05/07/22 bugfix: using the same PID values for 'fwd' and 'bkwrd' requires the 
      //    use of a minus sign here for motor speed.
      RunBothMotorsBidirectional(-speed, -speed);
    }
  }

  //05/30/22 only worry about 'stuck' conditions
  //if (errcode == STUCK_AHEAD || errcode == STUCK_BEHIND)
  //{
  //  HandleAnomalousConditions(errcode, TRACKING_NONE);
  //  return false;
  //}

  gl_pSerPort->printf("MTFD: Stopped with front dist = %d and errcode = %s\n", GetFrontDistCm(), AnomalyStrArray[errcode]);
  StopBothMotors();
  return true;
}

100

101

bool MoveToDesiredFrontDistCm(uint16_t offsetCm, float Kp, float Ki, float Kd)

{

//Purpose: Move forward or backward to a specified front offset distance

// Inputs:

// offsetCm - int denoting desired forward distance offset

// Kp,Ki,Kd set at top of program (lines 85-87)

// Outputs:

// Robot moves forward or backward to the desired offset, under PID control

//Notes:

// 04/25/21 the Kp/Ki/Kd values are much lower than prescribed by Z-N theory

// but I like the slower, more deliberate action.

// 03/06/22 rev for Teensy 3.5 and PIDCalcs().

// 05/07/22 bugfix: using the same PID values for 'fwd' and 'bkwrd' positioning means

// using a minus sign here for motor speed.

float lastError = 0;

float lastInput = 0;

float lastIval = 0;

float lastDerror = 0;

//DEBUG!!

gl_pSerPort->printf("MoveToDesiredFrontDistCm(%d): Kp/Ki/Kd= %2.2f/%2.2f/%2.2f\n",

offsetCm, Kp, Ki, Kd);

//DEBUG!!

StopBothMotors();

//05/30/22 re-init front/back dist arrays to avoid spurious 'stuck' detection

InitFrontDistArray();

InitRearDistArray();

gl_pSerPort->printf("MTFD: at start, tgt = %dcm, curr_dist = %d, front/rear var = %2.1f/%2.1f\n",

offsetCm, GetFrontDistCm(), glFrontvar, glRearvar);

gl_pSerPort->printf("Msec\tFdist\tTgtD\terr\tIval\tDerr\tOut\tSpeed\tFVar\tRVar\n");

UpdateAllEnvironmentParameters();

//AnomalyCode errcode = NO_ANOMALIES;

AnomalyCode errcode = CheckForAnomalies();

MsecSinceLastDistUpdate = 0; //01/08/22 not using ISR anymore

MsecSinceLastFrontDistUpdate = 0; //added 10/02/22 to slow front LIDAR update rate

//06/12/22 bugfix: can't have GetFrontDistCm() in while() statement - cuz it gets executed too often

//OffsetDistVal = (double)GetFrontDistCm();

//while (abs(GetFrontDistCm() - offsetCm) > 1 && errcode == NO_ANOMALIES)

while (abs(glFrontCm - offsetCm) > 1 && errcode != STUCK_AHEAD && errcode != STUCK_BEHIND)

{

CheckForUserInput();

if (MsecSinceLastDistUpdate >= MSEC_PER_DIST_UPDATE)

{

MsecSinceLastDistUpdate -= MSEC_PER_DIST_UPDATE;

UpdateAllEnvironmentParameters();

errcode = CheckForAnomalies();

OffsetDistVal = (double)GetFrontDistCm();

//gl_pSerPort->printf("MTFD: in loop, tgt = %dcm, curr_dist = %2.1f\n", offsetCm, OffsetDistVal);

//OffsetDistOutput = PIDCalcs(OffsetDistVal, (float)offsetCm, lastError,

// lastInput, lastIval, lastDerror, OffsetDistKp, OffsetDistKi, OffsetDistKd);

OffsetDistOutput = PIDCalcs((double)glFrontCm, (float)offsetCm, lastError,

lastInput, lastIval, lastDerror, Kp, Ki, Kd);

int16_t speed = (int16_t)OffsetDistOutput;

//gl_pSerPort->printf("MTFD: in loop, speed = %dcm\n", speed);

//PIDCalcs out can be negative, must handle both signs

if (speed >= 0)

{

speed = (speed > MOTOR_SPEED_QTR) ? MOTOR_SPEED_QTR : speed;

speed = (speed <= MOTOR_SPEED_OFF) ? MOTOR_SPEED_OFF : speed;

}

else //speed < 0

{

speed = (speed < -MOTOR_SPEED_QTR) ? -MOTOR_SPEED_QTR : speed;

}

gl_pSerPort->printf("%lu\t%d\t%d\t%2.1f\t%2.1f\t%2.1f\t%2.1f\t%d\t%2.1f\t%2.1f\n",

millis(), glFrontCm, offsetCm, lastError, lastIval, lastDerror, OffsetDistOutput, speed, glFrontvar, glRearvar);

// 05/07/22 bugfix: using the same PID values for 'fwd' and 'bkwrd' requires the

// use of a minus sign here for motor speed.

RunBothMotorsBidirectional(-speed, -speed);

}

//05/30/22 only worry about 'stuck' conditions

//if (errcode == STUCK_AHEAD || errcode == STUCK_BEHIND)

//{

// HandleAnomalousConditions(errcode, TRACKING_NONE);

// return false;

//}

gl_pSerPort->printf("MTFD: Stopped with front dist = %d and errcode = %s\n", GetFrontDistCm(), AnomalyStrArray[errcode]);

StopBothMotors();

return true;

}

Here’s some output from a typical run:

Starting Front/BackSide Motion Test - enter Direction (1 = F, 2 = B, 3 = L, 4 = R), offset, Kp,Ki,Kd
At top of parameter retrieval section
DirStr = 1
OffStr = 60
Moving Front to 60 cm, with PID = (1.50,0.10,0.20)
Enter any key to start

Before MTDFD, FVar = 13062.84
MoveToDesiredFrontDistCm(60): Kp/Ki/Kd= 1.50/0.10/0.20
MTFD: at start, tgt = 60cm, curr_dist = 21, front/rear var = 13328.0/833.0
Msec	Fdist	TgtD	err	Ival	Derr	Out	Speed	FVar	RVar
163417	20	60	40.0	4.0	40.0	56.0	56	13305.6	21444.6
163480	20	60	40.0	8.0	0.0	68.0	68	13974.0	30074.4
163530	20	60	40.0	12.0	0.0	72.0	72	14987.5	40126.6
163581	21	60	39.0	15.9	-1.0	74.6	74	16226.3	49659.8
163628	24	60	36.0	19.5	-3.0	74.1	74	18030.5	58677.5
163680	26	60	34.0	22.9	-2.0	74.3	74	19318.8	67183.6
163729	28	60	32.0	26.1	-2.0	74.5	74	20393.4	73500.8
163779	29	60	31.0	29.2	-1.0	75.9	75	21153.6	79398.7
163830	30	60	30.0	32.2	-1.0	77.4	75	21426.0	84880.5
163878	32	60	28.0	35.0	-2.0	77.4	75	20739.2	89949.6
163929	33	60	27.0	37.7	-1.0	78.4	75	19204.9	94609.4
163980	34	60	26.0	40.3	-1.0	79.5	75	16580.3	98863.2
164032	37	60	23.0	42.6	-3.0	77.7	75	12651.8	104153.8
164081	39	60	21.0	44.7	-2.0	76.6	75	7213.3	107565.6
164130	44	60	16.0	46.3	-5.0	71.3	71	53.6	110581.6
164181	49	60	11.0	47.4	-5.0	64.9	64	67.6	114521.3
164220	53	60	7.0	48.1	-4.0	59.4	59	86.6	117988.8
164281	53	60	7.0	48.8	0.0	59.3	59	99.7	120987.7
164333	57	60	3.0	49.1	-4.0	54.4	54	113.1	123521.6
164382	59	60	1.0	49.2	-2.0	51.1	51	124.7	124450.2
MTFD: Stopped with front dist = 59 and errcode = NO_ANOMALIES
Front	Rear	Left	Right
59	819.10	32.00	779.80
63	819.10	33.00	779.80
65	819.10	34.00	779.80
66	819.10	33.00	779.80
69	750.40	32.00	779.80
67	750.40	32.00	779.80
68	750.40	33.00	779.70
67	819.10	32.00	779.70
68	819.10	32.00	779.80
67	819.10	33.00	779.80

Starting Front/BackSide Motion Test - enter Direction (1 = F, 2 = B, 3 = L, 4 = R), offset, Kp,Ki,Kd

At top of parameter retrieval section

DirStr = 1

OffStr = 60

Moving Front to 60 cm, with PID = (1.50,0.10,0.20)

Enter any key to start

Before MTDFD, FVar = 13062.84

MoveToDesiredFrontDistCm(60): Kp/Ki/Kd= 1.50/0.10/0.20

MTFD: at start, tgt = 60cm, curr_dist = 21, front/rear var = 13328.0/833.0

Msec Fdist TgtD err Ival Derr Out Speed FVar RVar

163417 20 60 40.0 4.0 40.0 56.0 56 13305.6 21444.6

163480 20 60 40.0 8.0 0.0 68.0 68 13974.0 30074.4

163530 20 60 40.0 12.0 0.0 72.0 72 14987.5 40126.6

163581 21 60 39.0 15.9 -1.0 74.6 74 16226.3 49659.8

163628 24 60 36.0 19.5 -3.0 74.1 74 18030.5 58677.5

163680 26 60 34.0 22.9 -2.0 74.3 74 19318.8 67183.6

163729 28 60 32.0 26.1 -2.0 74.5 74 20393.4 73500.8

163779 29 60 31.0 29.2 -1.0 75.9 75 21153.6 79398.7

163830 30 60 30.0 32.2 -1.0 77.4 75 21426.0 84880.5

163878 32 60 28.0 35.0 -2.0 77.4 75 20739.2 89949.6

163929 33 60 27.0 37.7 -1.0 78.4 75 19204.9 94609.4

163980 34 60 26.0 40.3 -1.0 79.5 75 16580.3 98863.2

164032 37 60 23.0 42.6 -3.0 77.7 75 12651.8 104153.8

164081 39 60 21.0 44.7 -2.0 76.6 75 7213.3 107565.6

164130 44 60 16.0 46.3 -5.0 71.3 71 53.6 110581.6

164181 49 60 11.0 47.4 -5.0 64.9 64 67.6 114521.3

164220 53 60 7.0 48.1 -4.0 59.4 59 86.6 117988.8

164281 53 60 7.0 48.8 0.0 59.3 59 99.7 120987.7

164333 57 60 3.0 49.1 -4.0 54.4 54 113.1 123521.6

164382 59 60 1.0 49.2 -2.0 51.1 51 124.7 124450.2

MTFD: Stopped with front dist = 59 and errcode = NO_ANOMALIES

Front Rear Left Right

59 819.10 32.00 779.80

63 819.10 33.00 779.80

65 819.10 34.00 779.80

66 819.10 33.00 779.80

69 750.40 32.00 779.80

67 750.40 32.00 779.80

68 750.40 33.00 779.70

67 819.10 32.00 779.70

68 819.10 32.00 779.80

67 819.10 33.00 779.80

The movement goes OK, and the robot telemetry says it stopped very close to the desired 60cm distance. However, when I measured the actual distance from the ‘wall’ to the robot, I got more like 67 or 68cm, probably indicating that the robot coasted some after the motors were turned off. When I instrumented the code to show the next 10 distance measurements after the exit from the subroutine, it became easy to see that this was the case – the robot coasted from 59 to 67cm. The robot should correct this by going back the opposite way, but it doesn’t because the last measurement (59cm) fits inside the 59-61cm ‘basket’ for subroutine termination (the ‘while’ loop termination criteria).

So, I thought what I could do is check the reported front distance after function exit, and just call it again if the robot had coasted too far from the target. The second run should get much closer, as the starting error term would be much smaller. So now the test code looks like this:

        gl_pSerPort->printf("Before MTDFD, FVar = %2.2f\n", glFrontvar);

        MoveToDesiredFrontDistCm(Offset,Kp,Ki,Kd);

        //show 10 distances after stop
        gl_pSerPort->printf("Front\tRear\tLeft\tRight\n");
        for (size_t i = 0; i < 10; i++)
        {
          GetRequestedVL53l0xValues(VL53L0X_ALL);
          glFrontCm = GetFrontDistCm();
          gl_pSerPort->printf("%d\t%2.2f\t%2.2f\t%2.2f\n",
            glFrontCm, glRearCm, glLeftCenterCm, glRightCenterCm);
          delay(100);
        }

        if (abs(glFrontCm - Offset) > 1)
        {
          gl_pSerPort->printf("Second time through MTDFD with error = %d\n", abs(glFrontCm - Offset));
          MoveToDesiredFrontDistCm(Offset,Kp/2,Ki,Kd);
        }

gl_pSerPort->printf("Before MTDFD, FVar = %2.2f\n", glFrontvar);

MoveToDesiredFrontDistCm(Offset,Kp,Ki,Kd);

//show 10 distances after stop

gl_pSerPort->printf("Front\tRear\tLeft\tRight\n");

for (size_t i = 0; i < 10; i++)

{

GetRequestedVL53l0xValues(VL53L0X_ALL);

glFrontCm = GetFrontDistCm();

gl_pSerPort->printf("%d\t%2.2f\t%2.2f\t%2.2f\n",

glFrontCm, glRearCm, glLeftCenterCm, glRightCenterCm);

delay(100);

}

if (abs(glFrontCm - Offset) > 1)

{

gl_pSerPort->printf("Second time through MTDFD with error = %d\n", abs(glFrontCm - Offset));

MoveToDesiredFrontDistCm(Offset,Kp/2,Ki,Kd);

}

This should have worked well, except when I tried it, the function exited with a ‘STUCK_AHEAD’ error – oops! Here’s a run going from 60 from 30cm:

Moving Front to 30 cm, with PID = (1.50,0.10,0.20)
Enter any key to start
Got 51
Got 46
Got 46
Got 46
Got 255
Before MTDFD, FVar = 12228.16
MoveToDesiredFrontDistCm(30): Kp/Ki/Kd= 1.50/0.10/0.20
MTFD: at start, tgt = 30cm, curr_dist = 65, front/rear var = 13328.0/833.0
Msec	Fdist	TgtD	err	Ival	Derr	Out	Speed	FVar	RVar
4812697	64	30	-34.0	-3.4	-34.0	-47.6	-47	11618.7	23386.2
4812746	66	30	-36.0	-7.0	-2.0	-60.6	-60	11452.8	23271.3
4812800	65	30	-35.0	-10.5	1.0	-63.2	-63	11682.5	33698.9
4812849	64	30	-34.0	-13.9	1.0	-65.1	-65	12236.1	41759.9
4812899	63	30	-33.0	-17.2	1.0	-66.9	-66	13316.3	49390.2
4812944	60	30	-30.0	-20.2	3.0	-65.8	-65	14265.6	56593.1
4812981	61	30	-31.0	-23.3	-1.0	-69.6	-69	15163.5	63372.0
4813049	60	30	-30.0	-26.3	1.0	-71.5	-71	15891.4	69730.2
4813095	57	30	-27.0	-29.0	3.0	-70.1	-70	16326.1	77314.4
4813148	55	30	-25.0	-31.5	2.0	-69.4	-69	16138.6	84400.2
4813199	55	30	-25.0	-34.0	0.0	-71.5	-71	15176.2	90991.4
4813235	52	30	-22.0	-36.2	3.0	-69.8	-69	13311.0	97091.6
4813297	50	30	-20.0	-38.2	2.0	-68.6	-68	10317.8	101237.0
4813346	49	30	-19.0	-40.1	1.0	-68.8	-68	5972.6	104982.1
4813396	44	30	-14.0	-41.5	5.0	-63.5	-63	40.8	108330.4
MTFD: Stopped with front dist = 44 and errcode = STUCK_AHEAD

Moving Front to 30 cm, with PID = (1.50,0.10,0.20)

Enter any key to start

Got 51

Got 46

Got 255

Before MTDFD, FVar = 12228.16

MoveToDesiredFrontDistCm(30): Kp/Ki/Kd= 1.50/0.10/0.20

MTFD: at start, tgt = 30cm, curr_dist = 65, front/rear var = 13328.0/833.0

Msec Fdist TgtD err Ival Derr Out Speed FVar RVar

4812697 64 30 -34.0 -3.4 -34.0 -47.6 -47 11618.7 23386.2

4812746 66 30 -36.0 -7.0 -2.0 -60.6 -60 11452.8 23271.3

4812800 65 30 -35.0 -10.5 1.0 -63.2 -63 11682.5 33698.9

4812849 64 30 -34.0 -13.9 1.0 -65.1 -65 12236.1 41759.9

4812899 63 30 -33.0 -17.2 1.0 -66.9 -66 13316.3 49390.2

4812944 60 30 -30.0 -20.2 3.0 -65.8 -65 14265.6 56593.1

4812981 61 30 -31.0 -23.3 -1.0 -69.6 -69 15163.5 63372.0

4813049 60 30 -30.0 -26.3 1.0 -71.5 -71 15891.4 69730.2

4813095 57 30 -27.0 -29.0 3.0 -70.1 -70 16326.1 77314.4

4813148 55 30 -25.0 -31.5 2.0 -69.4 -69 16138.6 84400.2

4813199 55 30 -25.0 -34.0 0.0 -71.5 -71 15176.2 90991.4

4813235 52 30 -22.0 -36.2 3.0 -69.8 -69 13311.0 97091.6

4813297 50 30 -20.0 -38.2 2.0 -68.6 -68 10317.8 101237.0

4813346 49 30 -19.0 -40.1 1.0 -68.8 -68 5972.6 104982.1

4813396 44 30 -14.0 -41.5 5.0 -63.5 -63 40.8 108330.4

MTFD: Stopped with front dist = 44 and errcode = STUCK_AHEAD

The ‘stuck’ checks have to be there because the robot can’t ‘see’ obstacles that are too low to interrupt the front LIDAR beam, or aren’t directly in the line of sight, but how to manage? The ‘stuck’ checks depend on a variance calculation on the last 50 measurements (held in a bit-bucket array), so I began to wonder why the front variance was decreasing so rapidly while the rear variance wasn’t (one would think they would behave more or less the same). So I went back and printed out the front & back distance array contents after each run, and saw that the reason the front variance was decreasing so rapidly was because I was using a 50mSec time interval, meaning the 50-element array was getting filled in 2500mSec – or about 2.5sec. So, in order to get more variance in a normal run, either the run has to be done at a faster speed (leading to more overshoot) or the timing interval has to be increased. In earlier work I had discovered that the front LIDAR system produces errors for long distance measurements when using short measurement intervals, so I increased the measurement interval from 50 to 200mSec, and now the variance decreases at a much slower rate – yay!

With the longer 200mSec measurement interval, the movement routine now has time to adjust for overshoots, as shown below:

Moving Front to 60 cm, with PID = (1.50,0.10,0.20)
Enter any key to start
Before MTDFD, FVar = 12843.11
MoveToDesiredFrontDistCm(60): Kp/Ki/Kd= 1.50/0.10/0.20
MTFD: at start, tgt = 60cm, curr_dist = 31, front/rear var = 13328.0/833.0
Msec	Fdist	TgtD	err	Ival	Derr	Out	Speed	FVar	RVar
872999	29	60	31.0	3.1	31.0	43.4	43	12907.2	21444.6
873198	32	60	28.0	5.9	-3.0	48.5	48	13605.9	30074.4
873398	36	60	24.0	8.3	-4.0	45.1	45	14795.4	40126.6
873599	44	60	16.0	9.9	-8.0	35.5	35	16147.8	47845.2
873798	52	60	8.0	10.7	-8.0	24.3	24	17428.3	56907.6
873984	56	60	4.0	11.1	-4.0	17.9	17	18228.5	63729.1
874197	56	60	4.0	11.5	0.0	17.5	17	18902.0	71816.1
874401	57	60	3.0	11.8	-1.0	16.5	16	18813.2	77754.5
874602	59	60	1.0	11.9	-2.0	13.8	13	17558.3	84880.5
MTFD: Stopped with front dist = 59 and errcode = NO_ANOMALIES
Front	Rear	Left	Right
59	750.40	32.00	779.80
59	91.50	33.00	779.70
59	750.40	33.00	779.80
60	819.10	32.00	779.80
59	819.10	32.00	779.80
60	819.10	33.00	779.80
59	750.40	32.00	779.80
58	750.40	31.00	779.80
57	750.40	32.00	779.80
59	750.40	32.00	779.80

Moving Front to 60 cm, with PID = (1.50,0.10,0.20)

Enter any key to start

Before MTDFD, FVar = 12843.11

MoveToDesiredFrontDistCm(60): Kp/Ki/Kd= 1.50/0.10/0.20

MTFD: at start, tgt = 60cm, curr_dist = 31, front/rear var = 13328.0/833.0

Msec Fdist TgtD err Ival Derr Out Speed FVar RVar

872999 29 60 31.0 3.1 31.0 43.4 43 12907.2 21444.6

873198 32 60 28.0 5.9 -3.0 48.5 48 13605.9 30074.4

873398 36 60 24.0 8.3 -4.0 45.1 45 14795.4 40126.6

873599 44 60 16.0 9.9 -8.0 35.5 35 16147.8 47845.2

873798 52 60 8.0 10.7 -8.0 24.3 24 17428.3 56907.6

873984 56 60 4.0 11.1 -4.0 17.9 17 18228.5 63729.1

874197 56 60 4.0 11.5 0.0 17.5 17 18902.0 71816.1

874401 57 60 3.0 11.8 -1.0 16.5 16 18813.2 77754.5

874602 59 60 1.0 11.9 -2.0 13.8 13 17558.3 84880.5

MTFD: Stopped with front dist = 59 and errcode = NO_ANOMALIES

Front Rear Left Right

59 750.40 32.00 779.80

59 91.50 33.00 779.70

59 750.40 33.00 779.80

60 819.10 32.00 779.80

59 819.10 32.00 779.80

60 819.10 33.00 779.80

59 750.40 32.00 779.80

58 750.40 31.00 779.80

57 750.40 32.00 779.80

59 750.40 32.00 779.80

As the above run shows, the robot stopped very close (59cm) to the desired 60cm, without any significant overshoot, and the front variance actually increased significantly during the run – nice!

The following run was in the other direction – from 60 to 30cm:

Moving Front to 30 cm, with PID = (1.50,0.10,0.20)
Enter any key to start
Before MTDFD, FVar = 17702.84
MoveToDesiredFrontDistCm(30): Kp/Ki/Kd= 1.50/0.10/0.20
MTFD: at start, tgt = 30cm, curr_dist = 61, front/rear var = 13328.0/833.0
Msec	Fdist	TgtD	err	Ival	Derr	Out	Speed	FVar	RVar
1164375	61	30	-31.0	-3.1	-31.0	-43.4	-43	11740.1	19499.2
1164572	59	30	-29.0	-6.0	2.0	-49.9	-49	11739.5	30074.4
1164772	54	30	-24.0	-8.4	5.0	-45.4	-45	12473.4	38267.3
1164975	51	30	-21.0	-10.5	3.0	-42.6	-42	13723.7	47845.2
1165173	44	30	-14.0	-11.9	7.0	-34.3	-34	15250.3	55133.9
1165363	37	30	-7.0	-12.6	7.0	-24.5	-24	16422.6	63729.1
1165575	32	30	-2.0	-12.8	5.0	-16.8	-16	17689.6	70127.6
1165774	30	30	0.0	-12.8	2.0	-13.2	-13	18190.7	76106.5
MTFD: Stopped with front dist = 30 and errcode = WALL_OFFSET_DIST_AHEAD
Front	Rear	Left	Right
30	750.40	29.00	779.80
30	750.40	29.00	779.80
30	750.40	29.00	779.80
31	819.10	29.00	779.80
32	819.10	28.00	779.80
32	819.10	29.00	779.80
31	819.10	29.00	779.80
28	819.10	29.00	779.80
32	819.10	28.00	779.80
28	750.40	28.00	779.80
Second time through MTDFD with error = 2
MoveToDesiredFrontDistCm(30): Kp/Ki/Kd= 1.50/0.10/0.20
MTFD: at start, tgt = 30cm, curr_dist = 30, front/rear var = 13328.0/833.0
Msec	Fdist	TgtD	err	Ival	Derr	Out	Speed	FVar	RVar
MTFD: Stopped with front dist = 29 and errcode = OBSTACLE_AHEAD

Moving Front to 30 cm, with PID = (1.50,0.10,0.20)

Enter any key to start

Before MTDFD, FVar = 17702.84

MoveToDesiredFrontDistCm(30): Kp/Ki/Kd= 1.50/0.10/0.20

MTFD: at start, tgt = 30cm, curr_dist = 61, front/rear var = 13328.0/833.0

Msec Fdist TgtD err Ival Derr Out Speed FVar RVar

1164375 61 30 -31.0 -3.1 -31.0 -43.4 -43 11740.1 19499.2

1164572 59 30 -29.0 -6.0 2.0 -49.9 -49 11739.5 30074.4

1164772 54 30 -24.0 -8.4 5.0 -45.4 -45 12473.4 38267.3

1164975 51 30 -21.0 -10.5 3.0 -42.6 -42 13723.7 47845.2

1165173 44 30 -14.0 -11.9 7.0 -34.3 -34 15250.3 55133.9

1165363 37 30 -7.0 -12.6 7.0 -24.5 -24 16422.6 63729.1

1165575 32 30 -2.0 -12.8 5.0 -16.8 -16 17689.6 70127.6

1165774 30 30 0.0 -12.8 2.0 -13.2 -13 18190.7 76106.5

MTFD: Stopped with front dist = 30 and errcode = WALL_OFFSET_DIST_AHEAD

Front Rear Left Right

30 750.40 29.00 779.80

31 819.10 29.00 779.80

32 819.10 28.00 779.80

32 819.10 29.00 779.80

31 819.10 29.00 779.80

28 819.10 29.00 779.80

32 819.10 28.00 779.80

28 750.40 28.00 779.80

Second time through MTDFD with error = 2

MoveToDesiredFrontDistCm(30): Kp/Ki/Kd= 1.50/0.10/0.20

MTFD: at start, tgt = 30cm, curr_dist = 30, front/rear var = 13328.0/833.0

Msec Fdist TgtD err Ival Derr Out Speed FVar RVar

MTFD: Stopped with front dist = 29 and errcode = OBSTACLE_AHEAD

The robot did a very good job of stopping right on the mark, but coasted 2cm further over the next 2sec. This caused the test program to run the movement routine a second time, but it almost immediately exited again. The front/rear variance numbers were quite high, well out of the danger zone (the error codes shown did not effect the routine – it only looks for ‘STUCK_AHEAD’ and ‘STUCK_BEHIND’ which trigger on front and rear variance thresholds respectively.

So, for at least the ‘MoveToDesiredFrontDistCm()’ function, it appears that PID = (1.5, 0.1, 0.2) works very well. On to the next one!

MoveToDesiredRearDistCm():

Using the same PID set as for MoveToDesiredFrontDistCm() produces excellent results for the ‘rear motion’ routine as well. Here’s a run going from 60 to 30cm based on the rear distance sensor:

Starting Front/BackSide Motion Test - enter Direction (1 = F, 2 = B, 3 = L, 4 = R), offset, Kp,Ki,Kd
At top of parameter retrieval section
DirStr = 2
OffStr = 30
Moving Back to 30 cm, with PID = (1.50,0.10,0.20)
Enter any key to start
In MoveToDesiredRearDistCm(30) with Kp/Ki/Kd = 1.5/0.1/0.2
	MTRD: at start, tgt = 30cm, curr_dist = 57, front/rear var = 13328.0/833.0
Msec	Fdist	TgtD	err	Ival	Derr	Out	Speed	FVar	RVar
27488	64.10	30	-34.1	-3.4	-34.1	-47.7	-47	10490.5	743.4
27685	57.20	30	-27.2	-6.1	6.9	-48.3	-48	9380.3	697.8
27889	58.80	30	-28.8	-9.0	-1.6	-51.9	-51	8803.9	653.9
28087	47.90	30	-17.9	-10.8	10.9	-39.8	-39	8602.4	612.5
28288	47.00	30	-17.0	-12.5	0.9	-38.2	-38	8804.5	573.6
28489	37.50	30	-7.5	-13.2	9.5	-26.4	-26	8982.6	542.8
28689	37.80	30	-7.8	-14.0	-0.3	-25.7	-25	9235.9	514.8
28889	30.60	30	-0.6	-14.1	7.2	-16.4	-16	9657.8	496.2
	MTRD: Stopped with rear dist = 34 and errcode = NO_ANOMALIES
Front	Rear	Left	Right
120	29.10	824.00	27.30
119	28.30	824.00	27.10
118	28.80	824.00	27.40
117	29.00	824.00	26.90
121	32.60	824.00	27.30
118	32.50	824.00	27.30
120	32.10	824.00	27.90
119	32.00	824.00	27.30
121	28.80	824.00	27.30
119	28.80	824.00	27.20

Starting Front/BackSide Motion Test - enter Direction (1 = F, 2 = B, 3 = L, 4 = R), offset, Kp,Ki,Kd

At top of parameter retrieval section

DirStr = 2

OffStr = 30

Moving Back to 30 cm, with PID = (1.50,0.10,0.20)

Enter any key to start

In MoveToDesiredRearDistCm(30) with Kp/Ki/Kd = 1.5/0.1/0.2

MTRD: at start, tgt = 30cm, curr_dist = 57, front/rear var = 13328.0/833.0

Msec Fdist TgtD err Ival Derr Out Speed FVar RVar

27488 64.10 30 -34.1 -3.4 -34.1 -47.7 -47 10490.5 743.4

27685 57.20 30 -27.2 -6.1 6.9 -48.3 -48 9380.3 697.8

27889 58.80 30 -28.8 -9.0 -1.6 -51.9 -51 8803.9 653.9

28087 47.90 30 -17.9 -10.8 10.9 -39.8 -39 8602.4 612.5

28288 47.00 30 -17.0 -12.5 0.9 -38.2 -38 8804.5 573.6

28489 37.50 30 -7.5 -13.2 9.5 -26.4 -26 8982.6 542.8

28689 37.80 30 -7.8 -14.0 -0.3 -25.7 -25 9235.9 514.8

28889 30.60 30 -0.6 -14.1 7.2 -16.4 -16 9657.8 496.2

MTRD: Stopped with rear dist = 34 and errcode = NO_ANOMALIES

Front Rear Left Right

120 29.10 824.00 27.30

119 28.30 824.00 27.10

118 28.80 824.00 27.40

117 29.00 824.00 26.90

121 32.60 824.00 27.30

118 32.50 824.00 27.30

120 32.10 824.00 27.90

119 32.00 824.00 27.30

121 28.80 824.00 27.30

119 28.80 824.00 27.20

MoveToDesiredLeftDistCm():

Next, I tackled the ‘MoveToDesiredLeftDistCm()’ function, which uses the left center distance measurement (corrected for orientation angle). This went fairly quickly, as the PID values for the front/back case seemed to work well for the ‘side’ case too. Here’s the output and a short video from a typical run:

In MoveToDesiredLeftDistCm(50) with Kp/Ki/Kd = 1.5/0.1/0.2
	MTLD: at start, tgt = 50cm, curr_dist = 11.6, tgt_window = 2.0, front/rear var = 12424.4/795.3
Msec	Left	Steer	LCorr	TgtD	err	Ival	Dval	Out	Speed	FVar	RVar
449355	15.0	0.4	11.0	50	35.0	3.5	35.0	49.0	49	11670.6	765.1
449555	17.0	0.4	13.6	50	33.0	6.8	-2.0	56.7	56	10361.3	733.2
449756	20.0	0.3	16.5	50	30.0	9.8	-3.0	55.4	55	8874.8	703.7
449967	24.0	0.4	17.6	50	26.0	12.4	-4.0	52.2	52	7277.8	671.1
450155	28.0	0.5	20.3	50	22.0	14.6	-4.0	48.4	48	5770.4	639.1
450358	32.0	0.3	26.4	50	18.0	16.4	-4.0	44.2	44	4821.3	606.5
450568	36.0	0.4	29.1	50	14.0	17.8	-4.0	39.6	39	3530.9	575.9
450757	40.0	0.4	29.8	50	10.0	18.8	-4.0	34.6	34	2451.5	548.3
450957	44.0	0.5	31.5	50	6.0	19.4	-4.0	29.2	29	1616.3	521.7
451158	49.0	0.3	41.3	50	1.0	19.5	-5.0	22.0	22	1034.0	499.6
451346	48.0	0.1	46.5	50	2.0	19.7	1.0	22.5	22	787.6	477.2
451558	51.0	0.4	40.8	50	-1.0	19.6	-3.0	18.7	18	584.6	460.0
451769	52.0	0.5	34.2	50	-2.0	19.4	-1.0	16.6	16	546.3	443.4
451958	52.0	0.4	42.0	50	-2.0	19.2	0.0	16.2	16	603.0	425.0
452160	54.0	0.5	38.7	50	-4.0	18.8	-2.0	13.2	13	679.0	410.9
452358	53.0	0.3	45.6	50	-3.0	18.5	1.0	13.8	13	688.5	397.6
452557	55.0	0.2	52.8	50	-5.0	18.0	-2.0	10.9	10	569.1	383.8
452759	55.0	0.4	43.5	50	-5.0	17.5	0.0	10.0	10	523.6	370.3
452960	54.0	0.3	46.0	50	-4.0	17.1	1.0	10.9	10	451.6	359.2
453161	54.0	0.2	51.8	50	-4.0	16.7	0.0	10.7	10	358.7	347.7
	MTLD: Stopped with left dist = 51.8 and errcode = NO_ANOMALIES
tLeft	Steer	LCorr
54.00	0.24	51.81
53.00	0.31	51.81
53.00	0.16	51.81
54.00	0.27	51.81
53.00	0.31	51.81
56.00	0.30	51.81
56.00	0.54	51.81
55.00	0.33	51.81
55.00	0.37	51.81
54.00	0.36	51.81

In MoveToDesiredLeftDistCm(50) with Kp/Ki/Kd = 1.5/0.1/0.2

MTLD: at start, tgt = 50cm, curr_dist = 11.6, tgt_window = 2.0, front/rear var = 12424.4/795.3

Msec Left Steer LCorr TgtD err Ival Dval Out Speed FVar RVar

449355 15.0 0.4 11.0 50 35.0 3.5 35.0 49.0 49 11670.6 765.1

449555 17.0 0.4 13.6 50 33.0 6.8 -2.0 56.7 56 10361.3 733.2

449756 20.0 0.3 16.5 50 30.0 9.8 -3.0 55.4 55 8874.8 703.7

449967 24.0 0.4 17.6 50 26.0 12.4 -4.0 52.2 52 7277.8 671.1

450155 28.0 0.5 20.3 50 22.0 14.6 -4.0 48.4 48 5770.4 639.1

450358 32.0 0.3 26.4 50 18.0 16.4 -4.0 44.2 44 4821.3 606.5

450568 36.0 0.4 29.1 50 14.0 17.8 -4.0 39.6 39 3530.9 575.9

450757 40.0 0.4 29.8 50 10.0 18.8 -4.0 34.6 34 2451.5 548.3

450957 44.0 0.5 31.5 50 6.0 19.4 -4.0 29.2 29 1616.3 521.7

451158 49.0 0.3 41.3 50 1.0 19.5 -5.0 22.0 22 1034.0 499.6

451346 48.0 0.1 46.5 50 2.0 19.7 1.0 22.5 22 787.6 477.2

451558 51.0 0.4 40.8 50 -1.0 19.6 -3.0 18.7 18 584.6 460.0

451769 52.0 0.5 34.2 50 -2.0 19.4 -1.0 16.6 16 546.3 443.4

451958 52.0 0.4 42.0 50 -2.0 19.2 0.0 16.2 16 603.0 425.0

452160 54.0 0.5 38.7 50 -4.0 18.8 -2.0 13.2 13 679.0 410.9

452358 53.0 0.3 45.6 50 -3.0 18.5 1.0 13.8 13 688.5 397.6

452557 55.0 0.2 52.8 50 -5.0 18.0 -2.0 10.9 10 569.1 383.8

452759 55.0 0.4 43.5 50 -5.0 17.5 0.0 10.0 10 523.6 370.3

452960 54.0 0.3 46.0 50 -4.0 17.1 1.0 10.9 10 451.6 359.2

453161 54.0 0.2 51.8 50 -4.0 16.7 0.0 10.7 10 358.7 347.7

MTLD: Stopped with left dist = 51.8 and errcode = NO_ANOMALIES

tLeft Steer LCorr

54.00 0.24 51.81

53.00 0.31 51.81

53.00 0.16 51.81

54.00 0.27 51.81

53.00 0.31 51.81

56.00 0.30 51.81

56.00 0.54 51.81

55.00 0.33 51.81

55.00 0.37 51.81

54.00 0.36 51.81

MoveToDesiredRightDistCm():

For this side, I simply copied ‘MoveToDesiredLeftDistCm()’ and changed all occurrences of ‘Left’ to ‘Right’. Here’s the telemetry and a short video from a typical run:

In MoveToDesiredRightDistCm(50) with Kp/Ki/Kd = 1.5/0.1/0.2
	MTLD: at start, tgt = 50cm, curr_dist = 7.6, tgt_window = 2.0, front/rear var = 11089.8/793.5
Msec	Right	Steer	LCorr	TgtD	err	Ival	Dval	Out	Speed	FVar	RVar
550636	12.5	0.6	8.0	50	37.5	3.8	37.5	52.5	52	9725.3	757.3
550836	12.6	0.5	8.2	50	37.4	7.5	-0.1	63.6	63	7898.5	721.0
551037	14.9	0.6	9.5	50	35.1	11.0	-2.3	64.1	64	6359.4	685.1
551236	18.5	0.6	11.5	50	31.5	14.1	-3.6	62.1	62	5139.8	650.9
551436	21.7	0.5	15.5	50	28.3	17.0	-3.2	60.1	60	4263.9	615.4
551638	25.7	0.6	16.2	50	24.3	19.4	-4.0	56.7	56	3856.9	582.3
551837	31.3	0.4	23.3	50	18.7	21.3	-5.6	50.5	50	3521.1	551.2
552037	36.1	0.5	25.2	50	13.9	22.7	-4.8	44.5	44	3467.5	521.7
552238	38.6	0.3	31.9	50	11.4	23.8	-2.5	41.4	41	3645.5	498.1
552438	43.1	0.5	30.4	50	6.9	24.5	-4.5	35.8	35	3949.4	472.4
552629	45.6	0.5	31.3	50	4.4	24.9	-2.5	32.0	32	4180.0	458.8
552838	48.1	0.7	24.3	50	1.9	25.1	-2.5	28.5	28	4478.5	442.0
553039	49.7	0.4	36.5	50	0.3	25.2	-1.6	25.9	25	4570.0	438.2
553239	50.6	0.5	34.3	50	-0.6	25.1	-0.9	24.4	24	4308.9	9713.3
553439	52.1	0.5	33.8	50	-2.1	24.9	-1.5	22.0	22	3548.7	9677.5
553628	54.0	0.3	47.3	50	-4.0	24.5	-1.9	18.9	18	2677.1	18508.9
553839	54.6	0.5	35.4	50	-4.6	24.0	-0.6	17.3	17	676.3	28807.2
554041	55.3	0.4	41.7	50	-5.3	23.5	-0.7	15.7	15	648.9	38619.4
554240	54.9	0.2	51.2	50	-4.9	23.0	0.4	15.6	15	588.1	46162.1
	MTLD: Stopped with Right dist = 51.2 and errcode = NO_ANOMALIES
tRight	Steer	LCorr
56.30	0.43	51.15
55.30	0.37	51.15
54.90	0.36	51.15
56.80	0.23	51.15
55.60	0.52	51.15
55.60	0.34	51.15
56.20	0.41	51.15
55.70	0.37	51.15
55.90	0.53	51.15
55.70	0.21	51.15

In MoveToDesiredRightDistCm(50) with Kp/Ki/Kd = 1.5/0.1/0.2

MTLD: at start, tgt = 50cm, curr_dist = 7.6, tgt_window = 2.0, front/rear var = 11089.8/793.5

Msec Right Steer LCorr TgtD err Ival Dval Out Speed FVar RVar

550636 12.5 0.6 8.0 50 37.5 3.8 37.5 52.5 52 9725.3 757.3

550836 12.6 0.5 8.2 50 37.4 7.5 -0.1 63.6 63 7898.5 721.0

551037 14.9 0.6 9.5 50 35.1 11.0 -2.3 64.1 64 6359.4 685.1

551236 18.5 0.6 11.5 50 31.5 14.1 -3.6 62.1 62 5139.8 650.9

551436 21.7 0.5 15.5 50 28.3 17.0 -3.2 60.1 60 4263.9 615.4

551638 25.7 0.6 16.2 50 24.3 19.4 -4.0 56.7 56 3856.9 582.3

551837 31.3 0.4 23.3 50 18.7 21.3 -5.6 50.5 50 3521.1 551.2

552037 36.1 0.5 25.2 50 13.9 22.7 -4.8 44.5 44 3467.5 521.7

552238 38.6 0.3 31.9 50 11.4 23.8 -2.5 41.4 41 3645.5 498.1

552438 43.1 0.5 30.4 50 6.9 24.5 -4.5 35.8 35 3949.4 472.4

552629 45.6 0.5 31.3 50 4.4 24.9 -2.5 32.0 32 4180.0 458.8

552838 48.1 0.7 24.3 50 1.9 25.1 -2.5 28.5 28 4478.5 442.0

553039 49.7 0.4 36.5 50 0.3 25.2 -1.6 25.9 25 4570.0 438.2

553239 50.6 0.5 34.3 50 -0.6 25.1 -0.9 24.4 24 4308.9 9713.3

553439 52.1 0.5 33.8 50 -2.1 24.9 -1.5 22.0 22 3548.7 9677.5

553628 54.0 0.3 47.3 50 -4.0 24.5 -1.9 18.9 18 2677.1 18508.9

553839 54.6 0.5 35.4 50 -4.6 24.0 -0.6 17.3 17 676.3 28807.2

554041 55.3 0.4 41.7 50 -5.3 23.5 -0.7 15.7 15 648.9 38619.4

554240 54.9 0.2 51.2 50 -4.9 23.0 0.4 15.6 15 588.1 46162.1

MTLD: Stopped with Right dist = 51.2 and errcode = NO_ANOMALIES

tRight Steer LCorr

56.30 0.43 51.15

55.30 0.37 51.15

54.90 0.36 51.15

56.80 0.23 51.15

55.60 0.52 51.15

55.60 0.34 51.15

56.20 0.41 51.15

55.70 0.37 51.15

55.90 0.53 51.15

55.70 0.21 51.15

Summary:

It looks like all four (front/back/left/right) motion features are now working fine, with the same PID = (1.5, 0.1, 0.2) configuration – yay!

Now the challenge is to integrate this all back into my mainline program and start testing wall tracking again.

Stay Tuned,

Frank

Boca Chica Space X Pilgrimage

2 Replies

Posted 26 January 2022.

I grew up on Florida’s east coast (Daytona Beach) in the 50’s and 60’s. We could watch the launces from our front yard, and once my dad and I travelled the 100 miles or so south to Cape Canaveral to witness one of the Apollo launches. Back in those days folks just parked alongside the roads and watched. I vividly remember watching the launch, and many seconds later actually feeling the sound vibrate through my chest – what an experience! Later, working as an engineer for the government, I watched the Challenger disaster from a Florida highway overpass. Since then I have watched NASA become a cringing shadow of itself and the U.S. become a nation without the capacity to launch humans into space. It took Elon Musk and Space X to show the world how to make space accessible again, and show us an even bigger dream – Starship and Mars.

I have been following developments at Boca Chica, Texas since shortly after StarHopper made it’s famous 500′ flight in August of 2019, and have watched through the eyes of Boca Chica Mary and all the other NSF crew as the launch site grew from nothing but a single concrete landing pad to the state it is in today, with sub-orbital and orbital flights visible on the horizon. Regardless of whatever else happens or where it happens, Boca Chica Texas will be forever known as the place where human interplanetary travel got its start.

I have wanted for some time now to see this magical place with my own eyes, and this week my wife and I finally got to do our Starbase pilgrimage. We flew from Columbus, OH to Harlingen, Tx on Southwest. We stayed overnight in Brownsville, and then made the drive out to Starbase this morning. All the pictures, videos, and commentary can’t do justice to the real thing. In this post I hope to add my ‘pilgrim’s point of view’ in the hope that others will be encouraged to do their own pilgrimage.

In preparation for the trip, I had been asking about Starbase do’s and don’ts since last November, but I hadn’t gotten much in the way of useful information. NSF Discord member xredbaron62x was the most helpful, passing along links to some other threads talking about Boca Chica trips, but the information itself wasn’t very useful. In particular, most posters mentioned that South Padre Island (SPI) was the best place to stay, but that option doubles the round-trip distance to the launch site. You have to go from SPI to Brownsville, and then Brownsville to BC. I couldn’t see the logic for this unless there was a specific reason, like a known launch date, so we booked a hotel in B’ville.

We arrived late Tuesday night, and sacked out at the hotel. The next morning we got up, had breakfast there, and headed out about 9 am. There were closures scheduled for both the days we were going to be there, but I had checked the night before and the Wednesday one had already been cancelled, so we didn’t have to worry about the 10am closure. As it turned out, leaving B’ville at 9am meant we were ‘off-shift-change’ and traffic along Hwy 4 was almost non-existent. As we drove south on a beautiful sunny day, I happened to notice what appeared to be brand-new high-voltage utility poles alongside the road (I’m an Electrical Engineer – we tend to notice these things).

brand-new high-voltage utility lines? There’s nothing out here, except for…..

With my background as an EE I could tell these poles were carrying some serious high voltage and high current, based on the number of conductors per insulator position, and the spacing between the insulators. Since there’s nothing on this road except Space X’s production and launch facilities, I jumped directly to the conclusion that these lines were intended to upgrade power at the Space X sites. As we travelled south, we could see that these power lines were just being installed, as we started passing construction crews and very large conductor rolls.

Here the power lines switched to the west side, and you can see the big rolls of conductors waiting for installation

Further on, we saw an odd roadside sign, complete with a yellow smiley-face. This is the entrance to the shooting range we’ve all heard about in conjunction with Starbase.

Sometime after that, I started to see the instantly recognizable skyline of the production site, and very faintly beyond that, the launch site itself. I like this photo because it gives the viewer some idea of the isolation of this place; there’s nothing around except miles and miles of miles and miles.

Here’s a short video to emphasize the ‘miles and miles of miles and miles’

We stopped a little later on so I could take some additional photos, and I happened to notice a roadside historical memorial to ‘Camp Belknap’ where 7,000-8,000 volunteers to fight in the 1840’s war with Mexico were housed in terrible conditions over a Texas summer. Looking out over the terrain, I can’t imagine anyone lasting for long in such desolation, much less 7,000 – 8,000 soldiers. Then I noticed that the site is well-kept, with red, white, and blue flowers on one side, and an American flag on the other – maybe there’s still hope for our country after all!

very well kept roadside historical monument

As we got closer to the production site, details – like SN16 and SN15 and (Booster 3??) became visible

Here’s a short video taken as we passed the iconic ‘S T A R B A S E’ sign

We drove on past the production site, me catching just a glimpse of a woman with a big camera (BC Mary?). Between the production site and the launch site, we came to this – a big stop-sign in a road construction area.

The next mile or so between the production and launch sites was all torn up; I think they have been working on this section of the road forever.

And here we are at the launch site, watched over by the one and only Starhopper

As we wandered along the road-edge on the far side of the road, I noticed that there wasn’t much going on, and thought I might be able to get a ‘I was here’ photo from near the security booth. So, I trotted over to the security booth and asked the guard if it would be OK. He said “Sure – see that line in the pavement (pointing to a faint line that, apparently marked the near edge of the public road)? – just as long as you are on the other side of that line you are OK”. Cool! So I stepped forward about 1 foot and my wife took this shot – Yay!

“Just over the line” at the entrance to the launch site

Next we went down to the beach, as I wanted to see if I could find one of the many robot cameras we all have been watching.

Nice beach, with some rain clouds coming in from offshore

My wife and chauffer for our Boca Chica adventure!

I didn’t find any NSF cameras, but I did find a guy with a huge cameral linked to a Starlink terminal. He said he was with a German outfit that was doing regular narrated Starbase updates (I forgot the name of the app), and he pointed further down the beach where he said some Lab Padre guys were set up. By this time the offshore rain clouds had gotten a lot closer, so we beat feet back to the car.

On our way back to the hotel, we ran across this sign, which we thought summed up our hopes and wishes for Starbase

Stay tuned

Frank