Vehicle Parameters

Vehicle-specific parameters for the AV2.

Core Parameters 

These parameters must be accurate for correct control behavior.

Wheel Base 

Distance from front to rear axle center.

Current Value: 1.23 m

Location in Code: pure_pursuit_controller.py

WHEEL_BASE = 1.23  # meters

How to Measure:

Mark center of front wheel contact patch
Mark center of rear wheel contact patch
Measure distance between marks

Maximum Steering Angle 

Maximum wheel angle at full steering lock.

Current Value: ±28°

How to Measure:

Turn steering to full lock
Measure wheel angle from straight ahead

Speed Limits 

Parameter	Value	Location
Max Speed	5.0	dwa_config
Test Speed Limit	2.0	runner.py
Max Reverse Speed	2.0	runner.py

Collision Geometry 

For obstacle avoidance calculations.

# config/vehicle.yaml
collision:
  robot_radius: 0.8      # Circular approximation
  robot_length: 2.0      # For rectangular check
  robot_width: 1.5
  safety_margin: 0.3     # Additional buffer

Updating Parameters 

When modifying vehicle parameters:

Update configuration files
Update any hardcoded values in source
Test in simulation first
Test at low speed in safe environment
Document changes