Include rolling resistance in the model

CastorModel/derive_equilibrium.m

@@ -24,8 +24,8 @@ D_F_C = simplify(kin.DrotB * B_F_C);
 
 D_rC_D = kin.D_rC_D; %position of C wrt D in D triad
 
-
-D_M_D = cross(D_rC_D, D_F_C); %moment around point D in D triad
+% Moment around point D in D triad. NOTE: F_t in kinematics is vector t in triad F, not the lateral force
+D_M_D = cross(D_rC_D, D_F_C) + kin.DrotR * kin.RrotF * kin.F_t * var.M_t; 
 
 eq1 = D_M_D(3) == 0; %swivel axis cannot generate moment around axis of movement
 C_F_C_y = simplify(solve(eq1, F_t)); %solve eq1 for lateral force
@@ -52,7 +52,7 @@ D_F_C = D_t * F_t + D_n*F_n
 % calculate moment around point D
 switch 1
     case 1 %exact
-        D_M_D = cross(D_rC_D, D_F_C) % + var.M_t * D_t
+        D_M_D = cross(D_rC_D, D_F_C) + var.M_t * D_t;
     case 2 %subs parts of rC_D, much easier to read
         syms a b c real
         D_rC_D_sym = [a;b;c]

CastorModel/variables.m

@@ -57,10 +57,10 @@ var.r_r1 = 0.56/2; %https://www.firstinarchitecture.co.uk/metric-data-03-average
 var.r_r2 = var.r_r1;
 var.r_f1 = 0.190/2; %radius of front wheel
 
-ignoreRollResist = 1;
+ignoreRollResist = 0;
 switch ignoreRollResist
     case 0
-        var.f_r_fi = 0.02; %coefficient of rolling resistance front wheels
+        var.f_r_fi = 0.025; %coefficient of rolling resistance front wheels, based on measured castor wheel in the first experiment
         var.f_r_ri = 0.005; %coefficient of rolling resistance rear wheels
     case 1
         var.f_r_fi = 0; %coefficient of rolling resistance front wheels