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Created project #1

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13 changes: 12 additions & 1 deletion speed_control/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,14 +49,25 @@ def to_tbs(accel: float) -> CarTBS:
Examples: to_tbs(2.0) -> t=2, b=0. to_tbs(-3.0) -> t=0, b=-3.
to_tbs(9.0) -> t=5, b=0. to_tbs(0.0) -> t=0, b=0.
"""

t = 0
b = 0

if accel >= 0:
t = min(accel, 5)
else:
b = max(accel, -10)

return CarTBS(t=t, b=b)

# TODO (Part 1)
raise NotImplementedError("Part 1: to_tbs() is not written yet")


class SpeedController:
def __init__(self):
# TODO (Part 1): choose a proportional gain. Units: (m/s^2) per (m/s).
self.kp = 0.0
self.kp = 1.0
# TODO (Part 2): choose an integral gain. Units: (m/s^2) per (m).
self.ki = 0.0
self.integral = 0.0 # accumulated speed error [m], used in Part 2
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