getsimpsonintervalsstart.m

该程序用PID系统实现差动转向车辆控制

%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL



function steps= getSimpsonIntervalsStart(ar,al,vr,vl,bw,x)
%%This function compute the number of simpson intervals for the
%% first step of the simulation


           A = (al + ar) /2;
           B = (vl + vr) /2;
           C = (ar - al) /(2 * bw);
           D = (vr - vl) / bw;

           steps=get_simpson_intervals(A, B, C, D, x);
end