I have converted the Excel Simulation Program for Car Trajectory to Processing code.
In this Yogurt version, position adjustment to the starting point is omitted, and I have succeeded up to 18 rounds!
The composition of this version is same as that of Full Chocolate version.
Please refer to this for detail composition. (4 Arduinos are used.)
I only revised the Processing code.
So, I show you in this Instructables only the video of automatic driving up to 18 rounds and the Processing code for that.
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Step 1: Processing Code for Car Trajectory Simulation
The car trajectory can be simulated as shown below.
The attached Excel is applied in previous version of Car No.05, and I have converted this to Processing.
This video shows the car trajectory is simulated every round.
Step 2: Processing Code for Yogurt Version
This is the Processing code for Car No.05 Yogurt Version.
I made some adjustment for car initial position,
G1x = float(round(xp))/1000 + 0.20;
G1y = float(round(yp))/1000 + 0.10;