Alexander Brown Alexanderallenbrown

##heading

let us try some math

here is an equation

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	//This demo code shows latching, rising edge detection for a 3-state program.
	//To see this program work, push button X1!!
	//To See some other functionality, play with inputs 4, 5, and 6!
	//Block 1: Handle Inputs, Timers, Counters
	V2 = X1&&!V1 //V2 is press
	T0_EN = X4&&!T1; //have timer count repeatedly and reset itself
	T1_EN = X4&&T0;//same
	CT0_UP = X5;

	from numpy import *

	class BicycleModel:

	def populate(self):
	"""this function populates the bicycle model continuous and discrete (tustin) matrices"""
	#terms for continuous time BM
	A1 = (self.Cf + self.Cr)/(self.m*self.U)
	A2 = (self.aself.Cf-self.bself.Cr)/(self.m*self.U)-self.U
	A3 = (self.aself.Cf-self.bself.Cr)/(self.I*self.U)

	from numpy import *
	from matplotlib.pyplot import *

	# A Dugoff Tire model implementation in python/numpy
	#Alexander Brown, Ph.D.
	# [email protected]

	class DugoffTire:
	""" This python class implements the Dugoff tire model based on friction coefficients, cornering stiffnesses.
	Forces are applied in same sign as slip angle, so be aware of this when you implement.

	%Demonstration of the Robin Sharp Optimal Preview Steering Control
	%Alexander Brown
	%March 15, 2012
	clear all
	close all
	clc

	%Adapted from Sharp, valetsiotis, 2001