PID Controller

Self-Driving Car Engineer Nanodegree Program

In this project I revisited the lake race track from the Behavioral Cloning Project. This time, however, I implemented a PID controller in C++ to maneuver the vehicle around the track!

---

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

Editor Settings

We've purposefully kept editor configuration files out of this repo in order to keep it as simple and environment agnostic as possible. However, we recommend using the following settings:

• indent using spaces
• set tab width to 2 spaces (keeps the matrices in source code aligned)

Project Instructions and Rubric

More information is only accessible by people who are already enrolled in Term 2 of CarND. If you are enrolled, see the project page for instructions and the project rubric.

Initial walkthrough

Udacity's PID walkthrough session with David Silver