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Framework for differential steering vehicle

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from Framework for differential steering vehicle by Paolo Di Prodi
A framework for a differential steering vehicle controlled by a PID system tuned with a genetic algo

ydrift=dydt(vr,vl,theta0,t,b) 

function ydrift=dydt(vr,vl,theta0,t,b)
%%this function calculate the drift from the center line (x axis)
     ydrift=((vr+vl)/2)*sin((vr-vl)*t/b+theta0);

end

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