Re-Organize Files Again

- Deliverables folder holds final files for submission
- Experimentation holds scripts and things related to our development of
  a final solution
- Simulation holds the provided files
- Added template for part 2 submission with comments

Deliverables/ROB535_ControlProject_part2_Team3.m

@@ -0,0 +1,38 @@
+function [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state);
+% [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state)
+% 
+% This script generates control inputs that avoid randomly generated
+% obstacles along the test track
+% 
+% INPUTS:
+%  TestTrack        the structure loaded from TestTrack.mat
+%    
+%  Xobs_seen        the output of the senseObstacles function
+% 
+%  curr_state       taken from the last state in Y, where Y is the actual
+%                   trajectory updated after forward integrating the
+%                   vehicle dynamics using control inputs at every planning
+%                   iteration
+%
+% OUTPUTS:
+%  Utemp            an N-by-2 vector of control inputs that will be passed
+%                   to forwardIntegrateControlInput. Utemp must have enough
+%                   control inputs with time step 0.01 seconds to forward
+%                   integrate vehicle dynamics for the next 0.5 seconds 
+%   
+%  FLAG_terminate   a binary flag set by the function to indicate when to
+%                   stop the simulation. Setting this flag to 1 at a
+%                   planning iteration indicates that, after integrating
+%                   forward vehicle dynamics using the control inputs from
+%                   Utemp for 0.5 seconds, the vehicle would have reached
+%                   the goal. If this flag is set to 0, then it imples that
+%                   the car would not reach the goal after forward
+%                   integrating for 0.5 seconds. Note that, in the event
+%                   that FLAG_terminate is never set to 1, the simulation
+%                   would stop after 20 minutes so that we can process all
+%                   the teams files in a timely manner.
+%             
+% Written by: Sravan Balaji, Xenia Demenchuk, and Peter Pongsachai
+% Created: 30 Nov 2021
+end
+

Simulation/forwardIntegrate.m

@@ -58,8 +58,8 @@ function [Y,U,t_total,t_update] = forwardIntegrate()
         
         % compute control inputs, and record the time consumption
         t_temp = toc(TIMER);
-        %%%%%%%%%%%%%%%% THIS IS WHERE YOUR FUNCTION IS CALLED (replace in your team number). %%%%%%%%%%%%%%%%%%%%%%%%%%%
-        [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team<your team number>(TestTrack,Xobs_seen,curr_state); %%
+        %%%%%%%%%%%%%%%% THIS IS WHERE YOUR FUNCTION IS CALLED %%%%%%%%%%%%%%%%%%%%%%%%%%%
+        [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state); %%
         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %         FLAG_terminate = randi(2)-1                                 % GSIs: This line is just for us to debug. Feel free to play with it if you want
 %         Utemp = rand(dt/0.01+1 + FLAG_terminate* (randi(10)-5),2);  % GSIs: This line is just for us to debug. Feel free to play with it if you want