PID

Proportional Integral Derivative

Note

PID formulas are taken from here: Pid Controller - How Machines Steer

Note

Car physics formulas are taken from here: Car Physics For Games (Weight transfer and slip ratio isnt implemented.)

Installation

1. Clone the repo.

    git clone https://github.com/enfyna/pid
    cd pid
   

Note

If you have missing dependencies try to install them.

2. Build the project.

        make
   

   For windows:

        make win
   

3. Run

   ./build/main 
   

Parameters

When you run the program from the command line you can pass these parameters:

Car:

--car <"toyota_trueno" | "corvette_c5">

Defaults to Corvette C5.

Graph Margin:

--graph-margin <int>

Keyboard Bindings

Key	Action	Key	Action
W	Increase P	R	Increase D
S	Decrease P	F	Decrease D
X	P = 0	V	D = 0
E	Increase I	J	Increase Target Speed
D	Decrease I	K	Decrease Target Speed
C	I = 0	1	Round Target Speed

Develop

Clangd

generate compile_commands.json:

bear -- make