hurtadosanti / PIDController

Implementation of a PID controller in C++ to maneuver the vehicle around the simulator track

PID Controller

A proportional–integral–derivative (PID) controller is a commonly used algorithm on control loops. On this project we have implemented a PID controller in C++ to maneuver the vehicle around the simulator track.

Photo by Florin Kozma on Unsplash

Basic Build Instructions

• Clone this repo
• Make a build directory: mkdir build && cd build
• Compile: cmake .. && make
• Run it: ./pid

Dependencies

• cmake >= 3.5
  • All OSes: click here for installation instructions
• make >= 4.1
  • 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
    
    

Setup

Ubuntu Linux

To install the required libraries run install-ubuntu.sh script.

Contributing

Google's C++ style guide

License

MIT License Copyright (c) 2016-2018 Udacity, Inc.

References

https://www.ni.com/en-us/innovations/white-papers/06/pid-theory-explained.html

https://github.com/udacity/CarND-Controls-PID

https://github.com/udacity/self-driving-car-sim/releases

https://review.udacity.com/#!/rubrics/1972/view

https://advt3.com/posts/pid_controller