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. 2018 Dec 12;18(12):4399. doi: 10.3390/s18124399
Algorithm 6 Wheel.
Input:δt
Result: Update of wheels and steering wheel
  • 1:

    UpdateSteering()

  • 2:

    for all Wheels w do

  • 3:

        sign ←1

  • 4:

        if w is a front wheel then

  • 5:

            sign ←−1

  • 6:

        end if

  • 7:

        Rotate w by roundsPerMinute(w)·sign·16·δt.

  • 8:

    end for

  • 9:

    for all Front wheels w do

  • 10:

        Adjust angle by steering wheel angle

  • 11:

    end for

  • 12:

    Adjust steering wheel according to front wheel