From 8c9b7377a6fd674bcc5d13c33c762893a850685a Mon Sep 17 00:00:00 2001
From: DanielRhee <danielrheewa@gmail.com>
Date: Thu, 8 Jan 2026 12:24:46 -0800
Subject: [PATCH 1/2] ackermann

---
 FullVehicleSim/Mech/steering.py | 13 +++++++++++++
 FullVehicleSim/params.json      |  3 ++-
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/FullVehicleSim/Mech/steering.py b/FullVehicleSim/Mech/steering.py
index be30430..11e1394 100644
--- a/FullVehicleSim/Mech/steering.py
+++ b/FullVehicleSim/Mech/steering.py
@@ -57,6 +57,19 @@ def calculateVirtualSlipAngle(parameters):
     #
     # return (Fy / CF) * (1 + term1Num/Term1Denom + term2Num/term2Denom + term3)
 
+# Returns a tuple with (in, out) steering angle
+def calculateAckermann(steerAngle, aPercent):
+    # We can assume that front and rear slip angles evolve identically in the small step steer so delta = l/r
+    wheelBase = params["wheelBase"]
+    turnRadius = wheelBase / steerAngle
+
+    innerRadiusWheel = np.arctan(wheelBase/(turnRadius - params["trackWidthAvg"]))
+    outerRadiusWheel = np.arctan(wheelBase/(turnRadius + params["trackWidthAvg"]))
+
+    return (np.degrees(innerRadiusWheel), np.degrees(outerRadiusWheel))
+
+
+
 def calculateYawRate(currYawRate, speed, stepSteerInput, timeSinceLastSteer, frontCorneringStiffnessDeg_, rearCorneringStiffnessDeg_, parameters):
     # This model is based on Performance Vehicle Dynamics
     # It is a pretty meh model which uses euler's method to approximate transient behavior
diff --git a/FullVehicleSim/params.json b/FullVehicleSim/params.json
index 2348565..4e8e229 100644
--- a/FullVehicleSim/params.json
+++ b/FullVehicleSim/params.json
@@ -14,7 +14,8 @@
         "tractiveIMax": 300,
 
         "Mass": 300,
-        "wheelBase": 1.65471,
+        "wheelBase": 1.5898989,
+        "trackWidthAvg": 1210.004,
         "a": 0.853506,
         "frontWeightDist": 46.46,
         "CoG-height": 0.999628,

From 8ffe3235718f66d7762b78eea4b0a1ce78aa3d8b Mon Sep 17 00:00:00 2001
From: DanielRhee <danielrheewa@gmail.com>
Date: Thu, 8 Jan 2026 12:35:29 -0800
Subject: [PATCH 2/2] initial

---
 VDCalculators/README.md             |  3 +++
 VDCalculators/ackermannOptimizer.py | 14 ++++++++++++++
 2 files changed, 17 insertions(+)
 create mode 100644 VDCalculators/ackermannOptimizer.py

diff --git a/VDCalculators/README.md b/VDCalculators/README.md
index 3274aca..5c92de9 100644
--- a/VDCalculators/README.md
+++ b/VDCalculators/README.md
@@ -1 +1,4 @@
 Calculators that are not to be integrated into the full Vehicle Dynamics model.
+
+# Ackermann optimizer
+This calculator aims to optimize the ackermann percentages of FS4
diff --git a/VDCalculators/ackermannOptimizer.py b/VDCalculators/ackermannOptimizer.py
new file mode 100644
index 0000000..5ed2435
--- /dev/null
+++ b/VDCalculators/ackermannOptimizer.py
@@ -0,0 +1,14 @@
+import os
+import sys
+import json
+sys.path.append("../FullVehicleSim/Mech")
+from steering import *
+
+import json
+magic:dict
+parameters:dict
+with open('../FullVehicleSim/params.json', 'r') as file:
+    params = json.load(file)
+    Magic = params["Magic"]
+    Parameters = params["Parameters"]
+    del params