pat92fr/TRRautopilot

TRR simulator autopilot

TRRautopilot

TRR simulator autopilot

How to build the project

Open 'TRRautopilot.cbp' with Code::Blocks (20.03) and MinGW. See http://www.codeblocks.org/downloads/binaries/ (codeblocks-20.03mingw-setup.exe) for download and installation Dependency : Enet library (http://enet.bespin.org/). Precompiled in enet/ directory of the project

How to use

1. Launch TRRsim.exe, Note : TRR simulator (server) requires local network access (port:1234).
2. TRR simulator displays "Waiting for autopilot..."
3. launch TRRautopilot.exe. Note : TRR autopilot (client) will try to connect to localhost IP and port 1234.
4. TRRsim will display "Autopilot connected" on top of the screen
5. Start autopilot by hitting F3 key in TRRsim. Hit F4 to suspend, F2 to restrart. and F1 for help.

TRR simulator (process) doesn't need to be restarted when TRR autopilot (process) has to be stopped, recompiled and restarted (algorithm changes).

How to create your own autopilot (C/C++ coding)

• open main.cpp
• create a new Crobot_autopilot class
• put your algorithms in the update member function
• pass an instance of your own autopilot class into client constructor (see main()).

Autopilot data inputs (sensors)

• Time
• Distance measured by virtual LIDARs (zero if obstacle distance is too far > 6m)
• Speed and angular velocity (with noise)
• Joystick direction and throttle setpoints

#define MAX_LIDARS 8

struct Cautopilot_inut_sensors
{
    unsigned int command = 0;
    unsigned int time_ms = 0;                 // Current time in ms
    float lidar_cm[MAX_LIDARS] = 0.0f;        // 0: no obstacle in range, >0 distance in cm
    float velocity_mps = 0.0f;                // Meter per second
    float angular_velocity_dps = 0.0f;        // Degrees per second (trigonometric)
    float manual_direction = 0.0f;            // -1.0 MAX LEFT   +1.0 MAX RIGHT
    float manual_throttle = 0.0f;             // -1.0 MAX BRAKE  +1.0 MAX THROTTLE
};

Autopilot data outputs (setpoints)

• Direction and throttle setpoints in the range [-1.0..1.0].

struct Cautopilot_output_commands
{
    float direction = 0.0f;        // -1.0 MAX LEFT   +1.0 MAX RIGHT
    float throttle = 0.0f;         // -1.0 MAX BRAKE  +1.0 MAX THROTTLE
};