Self-Driving Car Engineer Nanodegree Program
The Project code was pretty straightforward especially after following the walk-through to make sure I only touched the files needed. When initially starting to test the project, things were pretty bad. I spent at least an hour trying to tune parameters and I wasn't very sure what was going on. I started to notice that my car was swerving alot towards the middle of the track and this came after hand tuning and things looked as if they were going to keep moving smoothly. I went back to the drawing board, starting with the lesson on Twiddle. This was pretty frustrating because I thought it couldn't be done based on the way the simulator worked. After much research and pacing the floor (literally) I found a way to add Twiddle to my solution. I also found that removing the I parameter helped keep the car in the most centered position (give or take a few slight movements).
- Reduced the speed during turns (0.1)
- 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 == 0.13
- Follow the instructions in the uWebSockets README to get setup for your platform. You can download the zip of the appropriate version from the releases page.
- Clone this repo.
- Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make - Run it:
./pid.
We've purposefully kept editor configuration files out of this repo in order to keep it as simple and environment agnostic as possible. However, we recommend using the following settings:
- indent using spaces
- set tab width to 2 spaces (keeps the matrices in source code aligned)
Please (do your best to) stick to Google's C++ style guide.
Note: regardless of the changes you make, your project must be buildable using cmake and make!
More information is only accessible by people who are already enrolled in Term 2 of CarND. If you are enrolled, see the project page for instructions and the project rubric.
- You don't have to follow this directory structure, but if you do, your work will span all of the .cpp files here. Keep an eye out for TODOs.
Help your fellow students!
We decided to create Makefiles with cmake to keep this project as platform agnostic as possible. Similarly, we omitted IDE profiles in order to we ensure that students don't feel pressured to use one IDE or another.
However! I'd love to help people get up and running with their IDEs of choice. If you've created a profile for an IDE that you think other students would appreciate, we'd love to have you add the requisite profile files and instructions to ide_profiles/. For example if you wanted to add a VS Code profile, you'd add:
- /ide_profiles/vscode/.vscode
- /ide_profiles/vscode/README.md
The README should explain what the profile does, how to take advantage of it, and how to install it.
Frankly, I've never been involved in a project with multiple IDE profiles before. I believe the best way to handle this would be to keep them out of the repo root to avoid clutter. My expectation is that most profiles will include instructions to copy files to a new location to get picked up by the IDE, but that's just a guess.
One last note here: regardless of the IDE used, every submitted project must still be compilable with cmake and make./