Merge branch 'A1_control' into s2025_teamA_control-planning

Author: udymd

GEMstack/knowledge/vehicle/gem_e2_dynamics.yaml

@@ -14,7 +14,7 @@ max_accelerator_power_reverse: 10000.0 #Watts.  Power (backwards) in reverse gea
 
 acceleration_model : kris_v1
 accelerator_active_range : [0.32, 1.0]   #range of accelerator pedal where output acceleration is not flat
-brake_active_range : [0,1]             #range of brake pedal where output deceleration is not flat
+brake_active_range : [0.25,1]             #range of brake pedal where output deceleration is not flat
 
 internal_dry_deceleration: 0.2      #m/s^2: deceleration due to internal dry friction (non-speed dependent)
 internal_viscous_deceleration: 0.05  #1/s: scales the current velocity to get deceleration due to internal viscous friction (speed dependent)

GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml

@@ -1,20 +1,20 @@
-mass: 300.0  #kg
+mass: 700.0  #kg
 gravity: 9.81 #m/s^2
-longitudinal_friction : 1.0  # unitless
-lateral_friction : 1.0       # unitless
-max_brake_deceleration: 8.0  #m/s^2.  Deceleration at max brake pedal
-max_accelerator_acceleration: #m/s^2. Acceleration at max accelerator pedal, by gear
+longitudinal_friction : 1.0  # unitless TODO find make/model of tires 
+lateral_friction : 1.0       # unitless (I will bet these things do not have 1 coefficent of fricition)
+max_brake_deceleration: 8.0  #m/s^2.  Deceleration at max brake pedal TODO (un cap this cap)
+max_accelerator_acceleration: #m/s^2. Acceleration at max accelerator pedal, by gear (un cap this cap)
   - 0.0
   - 5.0
 max_accelerator_acceleration_reverse: 2.5 #m/s^2. Acceleration (backwards) in reverse gear
-max_accelerator_power:  #Watts.  Power at max accelerator pedal, by gear
+max_accelerator_power:  #Watts.  Power at max accelerator pedal, by gear (updated from website)
   - 0.0
-  - 10000.0
-max_accelerator_power_reverse: 10000.0 #Watts.  Power (backwards) in reverse gear
+  - 5000.0
+max_accelerator_power_reverse: 5000.0 #Watts.  Power (backwards) in reverse gear
 
-acceleration_model : kris_v1
+acceleration_model : hang_v1
 accelerator_active_range : [0.2, 1.0]   #range of accelerator pedal where output acceleration is not flat
-brake_active_range : [0,1]             #range of brake pedal where output deceleration is not flat
+brake_active_range : [0.5,1]             #range of brake pedal where output deceleration is not flat
 
 internal_dry_deceleration: 0.2      #m/s^2: deceleration due to internal dry friction (non-speed dependent)
 internal_viscous_deceleration: 0.05  #1/s: scales the current velocity to get deceleration due to internal viscous friction (speed dependent)