This process has a single task :

1. Given a set of coordinates in Shmem from Plan Daemon, adjust the speed and steering to get to that coordinate/path.

The Control Daemon uses PID to calculate the accumulative error and apply the optimal factor to the actuation.

(IMPORTANT) Notice :

• This program, in its current state, takes the values in TCO_SHMEM_NAME_PLAN as raw steering. The Plan Daemon and Control Daemon pair need to be updated to follow the more sophisticated coordinate idea.

Plan of attack

1. Read shmem for new desired X {-1,1}.

2. Push to PID for new value

3. Throttle/brake is a sigmoid activation function (test-speed!).

$f\left(x\right)\:=1-fabs(\:\left(\frac{1}{1+e^{-sx}}-.5\right)\cdot 2)$

#include <math.h>
/**
 * @brief apply sigmoid activation on @p x with curvature defined with @p sense
 * @param x input
 * @param sense the avg gradient of sigmoid function (factor of x)
 * @result A function that follow a sigmoid function
 * @note LaTeX : `f\\left(x\\right)\\:=\\:\\left(\\frac{1}{1+e^{-sx}}-.5\\right)\\cdot 2`
*/
float sigmoid_acvitvation(float x, float sense) {
	float e = 2.71828; /* Eulers Number */
	float denom = 1 + powf(e, (sense * x) * -1); /* Defined in `math.h` stdlib */
	return ((1/denom) - 0.5) * 2;
}

/* Proto func */
int steer_algo {
	float steer = read_from_shmem; // Proto 
	float throttle = 1 - fabs(sigmoid_activation(steer, 4.0f));
  write_to_shmem(steer, throttle); // Proto
}