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- Takes keyboard inputs
- Has steering and throttle inputs
- Interfaces with the positioning system
- Outputs which ceiling units it’s received data from and what it received
- Turning on DEBUG_OUTPUTS and/or DEBUG_RECEIPTS in positioning.c provides extra outputs for debugging positioning issues
- Useful for testing the positioning system and also for general manual driving (doesn’t output speed or steering data though, see PathPlan)
PathPlan
- Has one input argument: the path to be followed
- This must be a text file located in the same directory as the executable
- Use any random text file if PATHPLAN_ON is set to 0
- Takes keyboard inputs
- Has steering, throttle, and torque inputs
- Interfaces with the positioning system
- If PATHPLAN_ON in pathplan.c is set to 1:
- Runs the initialization function, estimator, and path follower functions
- Steering input is disabled
- Outputs initialization data followed by speed, steering, estimated x/y/heading, and new position data (if any)
- Outputs can are separated by commas and can be easily pasted into Excel (paste as text and select comma as the column delimiter)
- Useful for running the path follower and making sure the estimator and steering controller are working correctly
- If PATHPLAN_ON in pathplan.c is set to 0:
- Does NOT run the initialization function, estimator, or path follower
- Outputs speed, throttle/torque (depending on current mode, see main()), and PWM, but can be modified easily.
- Outputs can are separated by “@” symbols and can be easily pasted into Excel (paste as text and use “@” as the column delimiter)
- Useful for logging data while running the car manually for dynamics testing, etc.
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