Stabilizes ACC and Midpoint controllers #33
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…ront vehicle; Midpoint controller is biased to increase speed beyond it's raw tracking to encourage the entire system to speed up; added more knobs: ratio, bias, duration, beta; added simSteps as a class attribute for access by the vehicle controllers.
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Note: midpoint controller is a bit of a misnomer, because right now it's not configured to track the midpoint, but rather any fraction of distance between the front and back vehicles. |
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Resolves #30 (see the pretty plots there!).