avijaira / carnd-pid-controller

A PID controller to maneuver the vehicle around the track!

CarND-Controls-PID

Self-Driving Car Engineer Nanodegree Program

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PID Controller Implementation Details

1. The vehicle successfully drive a lap around the track.
2. I chose the final hyperparameters (P, I, D coefficients) using Twiddle algorithm.
3. Used Term 2 Simulator v1.45 (released on Jun 14, 2017) for testing and validation.

Dependencies

• cmake >= 3.5
• All OSes: click here for installation instructions
• make >= 4.1(mac, linux), 3.81(Windows)
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
  • Windows: recommend using MinGW
• uWebSockets
  • Run either ./install-mac.sh or ./install-ubuntu.sh.
  • If you install from source, checkout to commit e94b6e1, i.e.

    git clone https://github.com/uWebSockets/uWebSockets
    cd uWebSockets
    git checkout e94b6e1
    

    Some function signatures have changed in v0.14.x. See this PR for more details.
• Simulator. You can download these from the project intro page in the classroom.

Fellow students have put together a guide to Windows set-up for the project here if the environment you have set up for the Sensor Fusion projects does not work for this project. There's also an experimental patch for windows in this PR.

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
4. Run it: ./pid.

Tips for setting up your environment can be found here

Code Style

Please (do your best to) stick to Google's C++ style guide.

Project Instructions and Rubric

Note: regardless of the changes you make, your project must be buildable using cmake and make!

References

• https://github.com/awbrown90/CarND-PID-Control-Project
• https://medium.com/intro-to-artificial-intelligence/pid-controller-udacitys-self-driving-car-nanodegree-c4fd15bdc981