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- Now the car sends its personal data (encoder speed, estimated fitness, desired pwm, etc.) to CPS that forwards this data to all the cars. If the encoder of a car does not work you can set to 0 the constant USE_ENCODER in "car_src/const_car.h" and the CPS will estimate the car speed from differentials which is currently not that accurate (See #CPS MEASURED 2D SPEED).
- Each car listen on a different port (base_port_number + car_number). This was required to make the simulator handle multiple cars and I extended it to the CPS for coherence.
Paths
- Modified the path specification file format in order to include the steer compensator directives and the definition of the speed disturbance function.
- Slightly narrowed the path fig0 since car3 was going too close to the computers where the camera distortion is very high and the tracking was often lost.
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Implemented a simulator in C for Linux. This is integrated with the code used on cars (ca2). It simulates the cars dynamics and the behavior of the Camera Positioning Systems (CPS). Besides being very useful to verify the system model, it makes easy to test changes to code and the controller before applying those changes to cars.
- path file name changed
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CA2
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- where is the folder
- I changed the makefile so if you want extend the code copy from mine
- paths are called _precise now
SCRIPTS
Implemented a script to visually debug cars behavior. It works both with the simulator and test-bed experiments data.
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