Squiggly lines alert!
I did some minor refinements and updates to both the hardware and the software (everything updated on GitHub), and went to a local AutoX.
There was an interesting wide-tight-wide left corner that I wanted to review.
One of the features was the bumpiness of the surface around that corner.
I'm blown away how much resolution there is in the data captured with this cheap DIY device!
Speed vs inputs
Speed: cyan (50 Hz update rate)
Accelerator: green (25 Hz)
Steering: purple (25 Hz)
Brake: orange (50 Hz)
Individual wheel speeds
Front left: cyan blue (25 Hz)
Front right: purple (25 Hz)
Rear left: green (25 Hz)
Rear right: orange (25 Hz)
You can see in the first phase of the corner the unladen left wheels briefly locked up when I went over bumps.
Then after the apex you can see that the inner rear wheel started turning at the same rate as the outside wheels (but not the inner front wheel!), occasionally slipping when going over bumps.
I'm curious what happened at the ~2s mark with the brake pressure.
I don't remember releasing the brake pedal
that much.
I wonder if it was the ABS intervening after I went over bumps.
Need more tests to say for sure!