Setup and Advanced Tuning Guide Manual

2202SouthRiversideDrive,Ames,IA50010
Phone:515‐232‐5363Internet:http://www.agleader.com
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25‐Jun‐10‐RevE
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Screen8of9–LINEACQUISITION–TargetPointDistanceClose
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WhatistheTargetPointDistanceClose?
IsthedistancetheParaDymesystemislookingaheadwheninLineAcquisitionModeandlessthan4
to6feetfromtheABLine.Figure14showsanexampleofhowtheTargetPointDistancechangesasit
isincreasedanddecreased.
WhatdoestheTargetPointDistanceCloseslideradjustandwhentoadjustit?
Theslideradjuststhelookahead,orTargetPointDistanceClose,whenthevehicleisgreaterlessthan
4to6feetfromtheABLine.Increasingtheslider,makesthelookaheaddistancelongerand
decreasingitmakesitshorter.
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• IncreasethesliderwhenthevehicleisovershootingtheABLine,seefigure5.
• DecreasethesliderwhenthevehicleneedstogettotheABLinequickerorbemoreaggressive
atacquiringtheline.
• DecreasethesliderifthevehicleissmoothatgettingtotheABLineandthenweaveswhen4to
6feetfromtheABLine.
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NOTE:Thisparameterhasaminimaleffectonhowthevehicleacquirestheline.ChangingMax
Curvaturehasamorenoticeableeffectonthevehicleacquiringtheline.
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RULEOFTHUMB:SetMinimumCurvaturetolessthe0.25ofMaxCurvature.Smallchangesto
MinimumCurvatureareveryhardtoobserve.
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