There is a dropbox on the computers with all the project files. The dropbox account is delvecchiodropbox@gmail.com with password delvecchio. I will add also all the TEA files used in all the projects in this lab. If you need to find something else, the best way to it is to turn on the computer near the windows: it has a lot of files used in the past.
The paths in this project are stored in fig8A.txt and fig8B.txt. (Note: there may be different versions of these; the correct one should have 1327 2307 as the first line in fig8A.txt.) Also, I have been using fig8C.txt, which is fig8B.txt backwards, because there are issues with the positioning system switching between cameras in one direction but not the next. Supposedly, the corrected data in myStances[] is used for the path follower for better individual accuracy to follow the paths, while carStances[] contains the "official" positions of all the cars, so that they all use the same data in their path-following algorithm.
In the current code, the cars start moving along the two paths. At each normal time-step, if the projected positions of the cars are safe, then the velocity controller sustains the car's speed at the speed measured throughout the past time-step. Note that this does not effectively keep the car's speed constant throughout the run, but it keeps the normal acceleration close to 0, which is all that is needed. Also in each time-step, the positions of the cars are projected 1 sec. forward, and the code checks whether the projected positions are in the capture set. If so, the supervisor finds an acceleration for the current positions. If the supervisor cannot find a solution for the current positions either (which shouldn't happen in theory in an ideal situation, but during a real experiment the position of the cars can jump suddenly into the capture set), then the supervisor uses the previously found solution.
Still to be worked on: any better way to handle situations in which the cars suddenly jump into capture set? Currently, it seems that the capture set changes rapidly, because the measurement of speed is not precise and jumps a lot.