braking distance at 0.5 m/s: 2.124 cm
ping period   10.0 ms: worst-case latency   25.0 ms ; formula stop   3.37 cm ; simulated worst case   3.36 cm
ping period   30.0 ms: worst-case latency   45.0 ms ; formula stop   4.37 cm ; simulated worst case   4.36 cm
ping period   40.0 ms: worst-case latency   55.0 ms ; formula stop   4.87 cm ; simulated worst case   4.86 cm
ping period   42.5 ms: worst-case latency   57.5 ms ; formula stop   5.00 cm ; simulated worst case   4.99 cm
ping period   60.0 ms: worst-case latency   75.0 ms ; formula stop   5.87 cm ; simulated worst case   5.86 cm
ping period  100.0 ms: worst-case latency  115.0 ms ; formula stop   7.87 cm ; simulated worst case   7.86 cm
ping period  150.0 ms: worst-case latency  165.0 ms ; formula stop  10.37 cm ; simulated worst case  10.36 cm
ping period  250.0 ms: worst-case latency  265.0 ms ; formula stop  15.37 cm ; simulated worst case  15.36 cm
largest ping period for a 5 cm stop: 42.53 ms (=  23.5 Hz) ; for a 10 cm stop: 142.53 ms
echo time for a 1.5 m target at 20 degC: 8.74  ms ; for 4 m: 23.31 ms (so a ping period below 23 ms is impossible at 4 m range)
latency 15 ms: max speed that stops within 1.5 m - 5 cm margin = 4.044 m/s ; within 0.30 m - 5 cm = 1.629 m/s ; vs rover top speed 0.691
latency 75 ms: max speed that stops within 1.5 m - 5 cm margin = 3.714 m/s ; within 0.30 m - 5 cm = 1.330 m/s ; vs rover top speed 0.691
latency 150 ms: max speed that stops within 1.5 m - 5 cm margin = 3.342 m/s ; within 0.30 m - 5 cm = 1.046 m/s ; vs rover top speed 0.691
watchdog timeout 0.05 s: distance after the last good command at 0.5 m/s = 5.4 cm ; at 0.25 m/s = 2.2 cm
watchdog timeout 0.10 s: distance after the last good command at 0.5 m/s = 7.9 cm ; at 0.25 m/s = 3.4 cm
watchdog timeout 0.20 s: distance after the last good command at 0.5 m/s = 12.9 cm ; at 0.25 m/s = 5.9 cm
watchdog timeout 0.50 s: distance after the last good command at 0.5 m/s = 27.9 cm ; at 0.25 m/s = 13.4 cm
watchdog timeout 1.00 s: distance after the last good command at 0.5 m/s = 52.9 cm ; at 0.25 m/s = 25.9 cm
watchdog timeout 2.00 s: distance after the last good command at 0.5 m/s = 102.9 cm ; at 0.25 m/s = 50.9 cm
saved /home/user/Documents/DOCUMENTS_SERVER/SKILL_TRAINING/Internet of Things (IoT) and Robotics/sessions/011-unit11-planning/figures/fig05_stop_budget.png
