Self-Driving Car Engineer Nanodegree Program
Clojure version of Udacity's PID controller project from term 2 of the self-driving car engineer nanodegree. This repository is intended to serve as starter code for other students who wish to complete the project in Clojure.
The most common choices for self-driving car development are C++ and Python. Clojure supports a faster development style than either of these languages (especially C++). Compared to C++, Clojure has a much simpler and more flexible syntax, clear error handling, and sophisticated dependency management. Compared to Python, Clojure is much faster (close to C++) and has excellent concurrency support.
Here's a tutorial to help you get started.
You will neeed to install Leiningen, a Clojure build tool. This is a fairly easy installation process. Just follow the instructions on the Leiningen website.
I also recommend VS Code with the Calva extension as your first Clojure text editor because it is very easy to install and use. Later, you can explore more advanced options like Cursive (IntelliJ), CIDER (Emacs), or Vim.
You'll find many TODO comments in src/pid_control/core.clj indicating parts of the code that you will need to complete. You are encouraged to run the automated tests frequently to confirm that your changes work correctly.
$ lein test
When the code is complete, you can run it with the following command. You should also run Udacity's term 2 simulator at the same time and select the "PID Control" project.
$ lein run
Try to choose values for the P, I, and D parameters so that the car drives as smoothly as possible. Once the car is driving smoothly, try slowly increasing the car's speed to see how high you can go.
You should complete this project on your own first. After you've completed the project, you can review my solution to see how it compares.
Copyright © 2018 Eric Lavigne
Distributed under the Eclipse Public License either version 1.0 or (at your option) any later version.