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May17_wheelspeedtest.m
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clc; clear all;
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ydat = ydat*4/max(ydat);
omegaL = 1;
omegaR = 1.4;
alphaL = 0.4;
alphaR = 0.1;
[Lz,Rz,time,Lpos,Rpos] = lookahead(xdat,ydat,zdat,omegaL,omegaR,alphaL,alphaR);
figure(1)
scatter3(Lpos(1,:),Lpos(2,:),Lz,25,'red','filled'); hold on; scatter3(Rpos(1,:),Rpos(2,:),Rz,25,'green','filled'); hold on; scatter3(xdat,ydat,zdat,10,'blue')
xlabel('Distance (m)')
ylabel('Distance (m)')