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2. While you are running the experiments, look at the computers that runs the CPS for the camera system so you can stop the run if the tracking has been lost. If you don't do it, the car will hit the wall.
LAB WIKI CHANGES
I cannot edit the lab wiki page (https://wikis.mit.edu/confluence/display/DelVecchioLab/Lab+Documentation) directly so I am using this section to add changes.
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3. LINKS. You cannot access to all the links in that page, so you probably find a way to do this.
INFORMATIONS ABOUT THE PROJECT
The paths in this project are stored in fig8AL.txt, fig8CL.txt and fig0.txt. There are two different versions of these files. The first one is used by the cars and contains only 10-20 points. This has to be placed in the folder ~/Desktop/brainstem/aDebug/aUnix/i686 of the car (they are already there, but if you need to do changes remember this) and it is used by the car to decide the steer value needed to follow the path. The second one is used by the CPS (camera program) and it is used to project the x-y measurement into a 1D position. This files has to be placed in the CPS folder (for example ~/Desktop/camera_programs/LeoCPS_3 of all the computers) and it contains a lot of points, about 1000, so that the projection is good and precise.
In the current code, the cars start moving along the paths. At each normal time-step, if the future positions of the cars are safe, then the cars are moving normally at the constant speed we have set. Note that this does not effectively keep the car's speed constant throughout the run because we are controlling the linear speed that is low during the turns. If the future positions are not safe, the supervisor finds an acceleration for the current positions and use it. At the moment, everything is made by a trajectory tracking controller that guarantees that the position of the car will be inside the to bounds used to schedule a solution.
TO RUN THE CODE
Currently the supervisor works on three cars, Car 1, Car 2 and Car 3. Car 1 carries Car 6's symbol, whose white background makes it easier for the positioning system to track, the other two are using the right symbols. To run the code, first start the CPS on the three camera computers. For this project, use LeoCPS_3 on the camera computers.
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PLEASE NOTE THAT you can make Car 1 run in the fig0.txt, that is not a problem, but you have to change the CPS code before! To do this, just open the project in the folder, select main.cpp and the change the array that contains the paths. REMEMBER that since Car 1 uses Car6's symbols, you have to change also the path for Car 6. You don't need to do this for the other cars.
C CODE
The C code is made by different functions. All the files should be well commented, but you can refer to Kevin's page to have an idea of what everything does.
TEA FILES
In my project I am using a new TEA file which sets directly the PWM. So the main difference is that you won't find in my C code the variable 'throttle' and in my TEA files the dynamic maps. If you need to use them, you can find all the TEA file in the dropbox folder.
CPS CODE
Again, this is made by different function. I used for a while Kevin CPS but then I modified something in the projection to have it correctly. Also care that in Kevin CPS folder you will find the old .txt file with just 10 point, but to have a better projection you need a larger number of points.