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# Coventry University Formula Student AI 2019 | |
## About repository | |
This code is currently considered deprecated. For future developments email sergiuharjau@gmail.com, we are porting our system on a ROS-Melodic architecture. | |
This code shall stand as a testament of our achievements at FS-AI 2019, having given us a win in the Acceleration and Sprint events, providing us the fastest timed lap in the Endurance Race, and trying its damn best in the Figure of Eight event. | |
As such, proceed with care. This code was developed in 6 weeks. Here be dragons. | |
## Autonomous start up procedure | |
Here for legacy reasons. | |
<pre> | |
Set up a track with Yellow on the left and Blue on the right. | |
python3 src/autocross.py --> follow on screen commands | |
(run with "nohup [command] &" to ensure shell does not kill the process) | |
Args: | |
visual=1 --> Does not start the CAN procedure, display a visual. | |
rc=1 --> Instead of CAN it sends PWM to the RC car. | |
replay=? --> Replays mission number ? from past recordings. | |
record=1 --> Does not send commands to the car, just records video. | |
loop=? --> Instead of looping forever, loops for given ?. | |
cflip=1 --> When Blue on left and Yellow on right. | |
green=1 --> Stops the car whenever it has green in front of it. | |
</pre> | |
Different scrips exist (such as acceleration or figureof8), but expect them to not work from the get-go, they were done in a very rushed manner to simply compete at all. | |
## Notable things about the car | |
On the 2019 car we had to ensure a multitude of things occured: | |
<pre> | |
Grossfunk is powered on. | |
Wheels are within 5 degrees from centre. | |
Grossfunk/E-Stops on the side are not engaged. | |
Autonomous Dongle terminates the CAN Bus. | |
</pre> |