PID Controller

Full Video on YouTube

Objective

Impliment a PID controller in C++ to maneuver the vehicle around the track. The simulator provides the cross track error (CTE) and the velocity (mph) in order to compute the appropriate steering angle.

Safely drive around the track as fast as possible.

What I Learned

• Proportional, Integral, dx, dt control
• Parameter optimization

Languages

• C++

Included Files

WriteUp.md -- Full Write up
PID.cpp -- PID controller
main.cpp -- connects the pid controller to the simulator and implements PID control.