Wall Follow

I implemented this for the F1TENTH. Basically, keeping the car at a constant distance from the wall.

This distance is called the cross track error.

Links

• F1TENTH Lecture
• Line follow with PID intuition video

PID Tuning for the VESC

There’s this thing called the PID Loop Rate??

PID for Wall Following

In the context of F1TENTH, we use PID to keep a car centered. We have two control objectives:

1. Keep the car driving along the centerline ($y=0$)
2. Keep the car parallel to the walls ($\theta =0$)
   1. We define as after driving $L$ meters, we are still on the centerline. ($L\sin \theta =0$)

Applying the general PID Control equation, we define the error term as $e(t)=-(y+L\sin \theta )$ The error term is basically Error.