256 lines
9.2 KiB
HTML
256 lines
9.2 KiB
HTML
<!DOCTYPE public "-//w3c//dtd html 4.01 transitional//en"
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"http://www.w3.org/TR/html4/loose.dtd">
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<html>
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<!--
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copyright : (C) 2003-2004 Bernhard Wymann
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email : berniw@bluewin.ch
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version : $Id$
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Permission is granted to copy, distribute and/or modify this document
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under the terms of the GNU Free Documentation License, Version 1.2
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or any later version published by the Free Software Foundation;
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with no Invariant Sections, no Front-Cover Texts, and no Back-Cover
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Texts. A copy of the license is included in the section entitled "GNU
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Free Documentation License".
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-->
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<head>
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<title>setup the car</title>
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<link rel="stylesheet" type="text/css" href="../../../css/format.css"/>
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<meta http-equiv="content-type" content="text/html; charset=ISO-8859-1"/>
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<meta name="description" content="straight class"/>
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<meta name="author" content="Bernhard Wymann"/>
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<meta name="keywords" content="torcs, berniw, bernhard wymann, car, setup, example"/>
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<script src="../../../js/utilities.js" type="text/javascript"></script>
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</head>
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<body bgcolor="#ffffff">
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<table class="maincontent">
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<tr>
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<td class="maincontent">
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<h1>5.6 Setup the Car</h1>
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<h3>Introduction</h3>
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<p>
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In this section we will set up the car <span style="color:red;">bt 1</span> for the
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qualifying on g-track-3. The goal is that you get a feeling for the parameters you can
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change.
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I don't recommend you to put too much effort in car setups yet, because if you
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modify the driver or write one from scratch it will not need the same setups. We do
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the test runs in the practice mode, set laps to 2 and display to normal so that you
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can analyse the behaviour. You will need to edit the file "0/practice/g-track-3.xml"
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(relative to the <span style="color:red;">bt</span> directory). To deploy the changed
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setup you have to run "make install" from the directory "0/practice".
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</p>
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<h3>Test Drive 1</h3>
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<p>
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First we run a test without any changes. The lap time is 1:08:86.
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</p>
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<table class="thumbnail">
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<tr>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot1.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326115625.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot2.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326115631.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot3.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326115642.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot4.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326115748.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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</tr>
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<tr>
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<td class="footer">
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Picture 1
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</td>
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<td class="footer">
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Picture 2
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</td>
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<td class="footer">
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Picture 3
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</td>
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<td class="footer">
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Picture 4
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</td>
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</tr>
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</table>
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<p>
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You can see on picture 1 the heavy understeering of the car in this narrow turn. It
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happens in
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the acceleration part of it, so we can conclude that the "Limited Slip"
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differential on the
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driven rear wheels disallows us to pass the turn. So we will set the differential to
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type "Free".
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On picture 2 you can see the result of the understeering. The car leaves the track
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and starts skidding.<br/>
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On picture 3 you can see the skidmarks form the braking before the turn. You can
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conclude that the braking balance or pressure is not set up correct. Perhaps
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we have to move the braking balance towards the rear wheels or to reduce the
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pressure.<br/>
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Finally on picture 4 you can see "classic" understeering. It's a quite wide turn, so
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the main cause is probably not enough grip on the front wheels. We can fix that with
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setting the camber to the minimum value and with proper suspension setup. Perhaps
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we have to reduce the angle of attack of the rear wing (rebember our speed limit
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computation). Now make the following changes in the setup file (0/practice/g-track-3.xml)
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and deploy it (make install).
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</p>
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<p>
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<ul>
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<li>Set the differential to type "FREE".</li>
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<li>Set camber of the left and right front wheel to -5.</li>
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</ul>
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</p>
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<h3>Test Drive 2</h3>
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<p>
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The resulting lap time is 1:07:85, that's 1.01 seconds faster than the previous result.
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</p>
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<table class="thumbnail">
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<tr>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot5.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326161354.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot6.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326161422.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot7.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326161428.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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<td class="thumbnail">
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<a href="javascript:changetwoframes('images/shot8.html','content','navigation/backcarsetup.html','navigation')">
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<img src="images/tn/torcs-20030326161440.jpg"
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border="0" width="150" height="112"/>
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</a>
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</td>
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</tr>
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<tr>
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<td class="footer">
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Picture 5
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</td>
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<td class="footer">
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Picture 6
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</td>
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<td class="footer">
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Picture 7
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</td>
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<td class="footer">
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Picture 8
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</td>
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</tr>
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</table>
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<p>
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Like you can see on picture 5 we pass this turn now fine without any skidmarks or other
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trouble. But we face a new problem on the next turn like you can see on the pictures
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6, 7 and 8. If you watch the practice session carefully you can observe that the
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reason for this are locking front wheels. We can conclude that we have to move
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the braking balance toward the rear wheels and to reduce the pressure.
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</p>
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<p>
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<ul>
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<li>Set the brakes "front-rear brake repartition" to 0.47.</li>
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<li>Set the "max pressure" to 9000.</li>
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</ul>
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</p>
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<h3>Test Drive 3</h3>
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<p>
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The resulting lap time is 1:07:03, that's 1.83 seconds faster than the first result.
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The car stays now quite good on the track so you can start the refinement of the setup.
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After I changed the gearbox, suspension, brake and rear wing settings I got finally a
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1:05:95, that's
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2.88 seconds faster than the default setup. Play now with different values to get a
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feeling for the settings. An approach to find the optimal values is:
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</p>
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<p>
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<ol>
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<li>Pick a parameter to optimize.</li>
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<li>Choose a value for the parameter, e. g. the default value.</li>
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<li>Measure the lap time.</li>
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<li>Choose a smaller value for the parameter and measure the lap time.</li>
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<li>Choose a larger value for the parameter and measure the lap time.</li>
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<li>Explore new values in the direction of the minimal lap time found.</li>
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<li>If the left and right values produce worse lap times you have found the best
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local value, choose now another parameter for optimization.</li>
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<li>Repeat the above till the setup is good enough.</li>
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<li>Finally copy the setup to the right directory.</li>
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</ol>
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</p>
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<p>
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You have also to keep an eye on the damage you get per lap. Because you drive just a few
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laps in the qualifying it doesn't matter if you get some damage. But for long races it
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can be a problem. Damage causes additional drag and if it reaches a certain limit your
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car is not able to drive further.
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</p>
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<h3>Downloads</h3>
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<p>
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In case you got lost, you can <a href="../download/bt56.tar.gz">download</a> my robot for TORCS 1.2.0 or later.
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</p>
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<h3>Feedback</h3>
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<p>
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<a href="mailto:berni4you@gmx.ch">Let me know</a>
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if you read this chapter and your thoughts about it. Please
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<a href="mailto:berni4you@gmx.ch">send me</a>
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also spelling, grammar, math and code corrections. Thank you for the feedback.
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</p>
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<h3>Summary</h3>
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<ul style="list-style-type:disk; color:black;">
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<li>You know how to setup the car.</li>
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<li>You have got a feeling for the different settings.</li>
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</ul>
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<br/>
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</td>
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</tr>
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</table>
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<table class="navigation_foot">
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<tr>
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<td class="navigation_foot">
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<a href="./customprop.html">
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<p style="text-align:left;">Back</p>
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</a>
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</td>
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<td class="navigation_foot">
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<a href="javascript:changetwoframes('../navigation/navigation.html','navigation','../robot.html','content')">
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<p style="text-align:right;">Up</p>
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</a>
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</td>
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</tr>
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</table>
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</body>
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</html>
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