Torque vectoring involved the non-uniform distribution of torque across individual wheels to improve maneuverability and performance. In our model, this involved using Arduino to write analog values between 0-255 to each individual motor using Arduino’s built-in PWM pins. As shown in equation below, power has a linear relationship with torque, and thus for simplicity, we will be referring to power in terms of the unitless Arduino analogWrite() values 0-255.

Power = Torque * RPM / 5252

(http://www.epi-eng.com/piston_engine_technology/power_and_torque.htm)

We will also use the following notations in this section to illustrate our implemented power distribution:  1)  [Front distribution / Rear distribution  || Outer distribution / Inner distribution]  to specify the percent distribution onto each respective wheel, and 2) {FO, FI, RO, RI} to specify the values written into each individual motor, with FO = front-outer wheel, FI = front-inner wheel, RO = rear-outer wheel, and RI = rear-inner wheel.

Table 1 describes the analog values written to each wheel corresponding to each differing power distribution percentages.

Power Distribution FO FI RO RI
[40/60 || 55/45] 141 115 212 173
[40/60 || 60/40] 154 103 231 154
[40/60 || 65/35] 167 90 250 135

Table 1) Motor values given Power Distribution